From a9892cc5247132d1fde01acbf26d0ede0e454143 Mon Sep 17 00:00:00 2001
From: Martin Mueller <martin@pfump.org>
Date: Sun, 9 Nov 2008 08:26:24 +0000
Subject: [PATCH] *** empty log message ***

---
 conf/flight_plans/grosslobke_demo.xml | 140 ++++++++++++++++++++++++++
 1 file changed, 140 insertions(+)
 create mode 100755 conf/flight_plans/grosslobke_demo.xml

diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml
new file mode 100755
index 0000000000..c8b657fb7c
--- /dev/null
+++ b/conf/flight_plans/grosslobke_demo.xml
@@ -0,0 +1,140 @@
+<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>