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THE flightplan
This commit is contained in:
Pascal Brisset
+85
-43
@@ -1,42 +1,47 @@
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.53900" lon0="1.24500" max_dist_from_home="1650" name="MAV07" qfu="270" security_height="25">
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<flight_plan alt="225" ground_alt="175" lat0="43.53900" lon0="1.24500" max_dist_from_home="1500" name="MAV07" qfu="0" security_height="25">
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<header>
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#include "bomb.h"
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#include "datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0.0" y="-0.0"/>
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<waypoint name="T1" x="423.5" y="64.9"/>
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<waypoint name="T2" x="834.6" y="-222.6"/>
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<waypoint name="T1__" x="430.5" y="269.2"/>
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<waypoint name="T2__" x="911.1" y="-339.6"/>
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<waypoint name="T3" x="895.4" y="-24.2"/>
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<waypoint name="T3__" x="921.3" y="114.7"/>
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<waypoint alt="30.0" name="AF" x="282.5" y="-93.1"/>
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<waypoint alt="0" name="TD" x="58.3" y="45.2"/>
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<waypoint name="BASELEG" x="411.1" y="-10.7"/>
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<waypoint name="STDBY" x="221.4" y="120.1"/>
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<waypoint name="RELEASE" x="126.9" y="181.6"/>
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<waypoint alt="30.0" name="START" x="551.5" y="-137.5"/>
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<waypoint name="CLIMB" x="406.8" y="221.4"/>
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<waypoint alt="0.0" name="TARGET" x="25.4" y="73.2"/>
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<waypoint name="A1" x="148.1" y="25.2"/>
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<waypoint name="A2" x="241.3" y="87.6"/>
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<waypoint name="A1__" x="85.4" y="-28.5"/>
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<waypoint name="A2__" x="312.1" y="136.7"/>
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<waypoint name="HOME" x="100" y="8.5"/>
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<waypoint name="T1" x="526.5" y="96.7" alt="210"/>
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<waypoint name="T2" x="862.3" y="-349.7" alt="210"/>
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<waypoint name="T1__" x="506.6" y="192.0" alt="210"/>
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<waypoint name="T2__" x="1002.0" y="-345.3" alt="210"/>
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<waypoint name="T3" x="895.4" y="-24.2" alt="210"/>
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<waypoint name="T3__" x="921.3" y="114.7" alt="210"/>
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<waypoint alt="200" name="AF" x="282.5" y="-93.1"/>
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<waypoint alt="175" name="TD" x="46.7" y="19.7"/>
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<waypoint name="BASELEG" x="39.9" y="452.3"/>
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<waypoint name="STDBY" x="208.3" y="37.3"/>
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<waypoint name="RELEASE" x="-73.8" y="280.3"/>
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<waypoint alt="210" name="START" x="364.1" y="-124.1"/>
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<waypoint name="CLIMB" x="-89.8" y="222.4"/>
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<waypoint alt="175" name="TARGET" x="122.3" y="6.4"/>
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<waypoint alt="185" name="A1" x="130.3" y="113.3"/>
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<waypoint alt="185" name="A2" x="82.5" y="35.6"/>
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<waypoint name="A1__" x="-58.7" y="150.2"/>
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<waypoint name="A2__" x="-178.5" y="150.8"/>
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<waypoint name="_1" x="-137.6" y="-8.2"/>
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<waypoint name="_2" x="161.7" y="385.5"/>
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<waypoint name="_5" x="1269.1" y="-382.2"/>
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<waypoint name="_6" x="1044.0" y="-710.8"/>
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<waypoint name="_3" x="506.2" y="622.7"/>
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<waypoint name="_4" x="1516.0" y="601.5"/>
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<waypoint name="_T3_1" x="998.2" y="-121.6"/>
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<waypoint name="_T3_2" x="753.2" y="-90.0"/>
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<waypoint name="_T3_3" x="779.6" y="83.6"/>
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<waypoint name="_T3_4" x="1016.3" y="79.9"/>
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<waypoint name="T3_SW" x="700" y="-280"/>
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<waypoint name="T3_NE" x="1060" y="70"/>
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<waypoint name="_T3_1" x="1049.4" y="-281.3"/>
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<waypoint name="_T3_2" x="735.2" y="-274.7"/>
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<waypoint name="_T3_3" x="742.3" y="64.6"/>
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<waypoint name="_T3_4" x="1056.5" y="58.0"/>
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<waypoint name="TAKEOFF" x="164.5" y="153.3"/>
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<waypoint name="TOD" x="-11.7" y="385.4"/>
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</waypoints>
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<sectors>
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<sector name="fonsorbes">
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<sector name="Fonsorbes">
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<corner name="_1"/>
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<corner name="_2"/>
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<corner name="_3"/>
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@@ -51,19 +56,29 @@
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<corner name="_T3_4"/>
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</sector>
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</sectors>
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<exceptions>
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<exception cond="!InsideFonsorbes(estimator_x, estimator_y)" deroute="kill"/>
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<exception cond="datalink_time > 35" deroute="standby"/>
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</exceptions>
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<blocks>
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<block name="wait GPS">
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="init">
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<set value="1" var="kill_throttle"/>
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call fun="NavSetGroundReferenceHere()"/>
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<deroute block="climb"/>
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<set value="baro_MS5534A_pressure" var="baro_MS5534A_ground_pressure"/>
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</block>
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<block name="climb">
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<attitude pitch="10" roll="0" throttle="0.9" until="estimator_z > ground_alt+30" vmode="throttle"/>
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<block name="kill">
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<set value="1" var="kill_throttle"/>
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<while cond="TRUE">
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<go wp="STDBY"/>
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</while>
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</block>
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<block name="takeoff">
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<exception cond="estimator_z > ground_alt + 25" deroute="standby"/>
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<set value="0" var="kill_throttle"/>
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<go wp="TAKEOFF"/>
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</block>
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<block name="standby" strip_button="STDBY">
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<set value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="identify T1">
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@@ -72,10 +87,19 @@
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<block name="identify T2">
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<eight center="T2" radius="nav_radius" turn_around="T2__"/>
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</block>
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<block name="locate T3"/>
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<block name="eight T3">
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<eight center="T3" radius="nav_radius" turn_around="T3__"/>
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</block>
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<block name="survey T3">
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<survey_rectangle wp1="T3_SW" grid="180" wp2="T3_NE"/>
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</block>
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<block name="Bomb Right">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="bomb"/>
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</block>
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<block name="bomb" strip_button="Bomb">
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<set value="BombComputeApproach(WP_TARGET, WP_START)" var="unit"/>
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<circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
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<set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)" var="unit"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
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</block>
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<block name="align">
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<exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
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@@ -83,7 +107,7 @@
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</block>
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<block name="shoot">
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<set value="BombShoot()" var="unit"/>
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<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
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<go from="RELEASE" hmode="route" wp="CLIMB"/>
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<set value="BombCloseHatch()" var="unit"/>
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<deroute block="standby"/>
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</block>
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@@ -91,23 +115,41 @@
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<set value="BombCloseHatch()" var="unit"/>
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<deroute block="standby"/>
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</block>
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<block name="Arch Left">
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<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<call fun="compute_alignment(WP_A1, WP_A2, WP_A1__, WP_A2__, 100, 10)"/>
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<deroute block="arch"/>
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</block>
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<block name="arch">
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<go from="A1__" hmode="route" wp="A1__"/>
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<deroute block="standby"/>
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<oval p1="A1__" p2="A2__" radius="nav_radius"/>
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</block>
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<block name="Land Right">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="land">
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<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
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<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
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<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
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</block>
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<block name="final">
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<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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<call fun="compute_TOD(WP_AF, WP_TD, WP_TOD, GLIDE_AIRSPEED, GLIDE_VSPEED)"/>
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<go approaching_time="0" from="AF" hmode="route" wp="TOD"/>
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<go from="TOD" hmode="route" pitch="stage_time*(GLIDE_PITCH/3)" throttle="0" vmode="throttle" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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<go from="TOD" hmode="route" pitch="stage_time*(GLIDE_PITCH/3)" throttle="0" vmode="throttle" wp="TD"/>
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<attitude pitch="GLIDE_PITCH" roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="T3 Square">
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<exception cond="! InsideT3(estimator_x, estimator_y)" deroute="come back"/>
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<attitude roll="0" vmode="alt" alt="WaypointAlt(WP_T3)"/>
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</block>
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<block name="come back">
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<exception cond="InsideT3(estimator_x, estimator_y)" deroute="T3 Square"/>
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<go wp="T3"/>
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</block>
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</blocks>
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</flight_plan>
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