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Martin Mueller
2008-11-09 08:26:24 +00:00
parent 7f7867cd78
commit a9892cc524
1 changed files with 140 additions and 0 deletions
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conf/flight_plans/grosslobke_demo.xml
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<flight_plan ALT="170" GROUND_ALT="68" LAT0="52.26483" LON0="9.99394" MAX_DIST_FROM_HOME="1500" NAME="Gross Lobke, verschiedene Kreise" QFU="270" SECURITY_HEIGHT="60">
<header>
#include "joystick.h"
#include "bomb.h"
#include "nav_line.h"
#include "datalink.h"
</header>
<rc_control>
</rc_control>
<waypoints utm_x0="567831.0" utm_y0="5790955.0">
<waypoint name="HOME" x="15.0" y="5.0"/>
<waypoint name="1" x="-181.785735614" y="34.9692539535"/>
<waypoint name="2" x="130.143368186" y="90.3661855655"/>
<waypoint name="CR" x="0.0885126006" y="73.7359798392"/>
<waypoint name="S1" x="-200" y="-200"/>
<waypoint name="S2" x="300" y="400"/>
<waypoint alt="140" name="START" x="140.0" y="35."/>
<waypoint alt="120" name="BASELEG" x="39.9" y="-130.3"/>
<waypoint alt="120" name="RELEASE" x="39.9" y="-110.3"/>
<waypoint alt="160" name="CLIMB" x="39.9" y="-90.3"/>
<waypoint alt="120" name="_BASELEG" x="39.9" y="-90.3"/>
<waypoint alt="120" name="AF" x="39.9" y="-90.3"/>
<waypoint alt="68" name="TD" x="-10." y="10.3"/>
<waypoint alt="68" name="TARGET" x="0.9" y="10.3"/>
</waypoints>
<blocks>
<block NAME="start">
<attitude roll="0" pitch="20" vmode="throttle" throttle="0.7" until="(estimator_flight_time > 3)"/>
<go wp="START"/>
</block>
<block NAME="wait" strip_button="wait">
<circle wp="CR" radius="nav_radius"/>
</block>
<block NAME="east">
<go target="2" APPROACHING_TIME="2" HMODE="route" WP="2" from="1"/>
<deroute block="west"/>
</block>
<block NAME="west">
<go target="1" APPROACHING_TIME="2" HMODE="route" WP="1" from="2"/>
<deroute block="east"/>
</block>
<block NAME="east t">
<go target="2" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="2" from="1"/>
<deroute block="west t"/>
</block>
<block NAME="west t">
<go target="1" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="1" from="2"/>
<deroute block="east t"/>
</block>
<block name="survey">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_line_init()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
</block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/>
</block>
<block name="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block name="Survey S1-S2 WE" strip_button="Survey (wp S1-S2) WE" strip_icon="survey_we.png">
<survey_rectangle grid="150" orientation="WE" wp1="S1" wp2="S2"/>
</block>
<block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
<eight center="1" radius="nav_radius" turn_around="2"/>
</block>
<block name="Joystick" strip_button="J" pre_call="{}" strip_icon="joystick.png">
<set var="lateral_mode" value="LATERAL_MODE_ROLL"/>
<set var="v_ctl_mode" value="V_CTL_MODE_MANUAL"/>
<set var="joystick_block" value="nav_block"/>
<call fun="TRUE"/>
</block>
<block NAME="down" strip_button="Down">
<attitude roll="0" pitch="0.1" vmode="throttle" throttle="0" until="(estimator_flight_time > 1)"/>
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.9*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<while cond="estimator_z > 210"/>
<set value="0" var="h_ctl_aileron_setpoint"/>
<while cond="2.> stage_time"/>
<set value="FALSE" var="h_ctl_disabled"/>
<deroute block="wait"/>
</block>
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<!--block name="Bomb Right">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="bomb"/>
</block>
<block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)" var="unit"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
</block>
<block name="align">
<exception cond="BombUpdateRelease(WP_TARGET)" deroute="wait"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block>
<block name="shoot">
<set value="BombShoot()" var="unit"/>
<go from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block>
<block name="close">
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block-->
<!--block NAME="roll" strip_button="Roll">
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<while cond="3.> stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
<set value="FALSE" var="h_ctl_disabled"/>
<return/>
</block-->
</blocks>
</flight_plan>