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[heli][flight_plans] Heli Spinup routine and flight plan mode manual (#1606)

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Freek van Tienen
2016-04-26 10:49:58 +02:00
committed by Gautier Hattenberger
parent 1330d34641
commit a9e9be2dab
13 changed files with 309 additions and 14 deletions
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conf/flight_plans/flight_plan.dtd
+18 -6
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@@ -27,17 +27,18 @@
<!ELEMENT exceptions (exception*)>
<!ELEMENT blocks (block+)>
<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home|path)*>
<!ELEMENT block (exception|while|heading|attitude|manual|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|home|path)*>
<!ELEMENT include (arg|with)*>
<!ELEMENT arg EMPTY>
<!ELEMENT with EMPTY>
<!ELEMENT while (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT for (exception|while|heading|attitude|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT while (exception|while|heading|attitude|manual|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT for (exception|while|heading|attitude|manual|go|xyz|set|call|circle|deroute|stay|follow|survey_rectangle|for|return|eight|oval|path)*>
<!ELEMENT exception EMPTY>
<!ELEMENT heading EMPTY>
<!ELEMENT attitude EMPTY>
<!ELEMENT manual EMPTY>
<!ELEMENT go EMPTY>
<!ELEMENT xyz EMPTY>
<!ELEMENT set EMPTY>
@@ -125,7 +126,7 @@ value CDATA #REQUIRED>
<!ATTLIST blocks>
<!ATTLIST block
<!ATTLIST block
name CDATA #REQUIRED
pre_call CDATA #IMPLIED
post_call CDATA #IMPLIED
@@ -146,7 +147,7 @@ var CDATA #REQUIRED
from CDATA #REQUIRED
to CDATA #REQUIRED>
<!ATTLIST heading
<!ATTLIST heading
course CDATA #REQUIRED
vmode CDATA #IMPLIED
alt CDATA #IMPLIED
@@ -166,7 +167,18 @@ climb CDATA #IMPLIED
pitch CDATA #IMPLIED
until CDATA #IMPLIED>
<!ATTLIST go
<!ATTLIST manual
pitch CDATA #REQUIRED
roll CDATA #REQUIRED
yaw CDATA #REQUIRED
vmode CDATA #IMPLIED
alt CDATA #IMPLIED
height CDATA #IMPLIED
throttle CDATA #IMPLIED
climb CDATA #IMPLIED
until CDATA #IMPLIED>
<!ATTLIST go
wp CDATA #REQUIRED
wp_qdr CDATA #IMPLIED
wp_dist CDATA #IMPLIED