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fp for DGA 09

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This commit is contained in:
Gautier Hattenberger
2009-05-10 19:49:16 +00:00
parent 1037c7141d
commit bd4ff3dee9
2 changed files with 94 additions and 0 deletions
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conf/flight_plans/dga_cour.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="5" ground_alt="0" lat0="48 51 41.166" lon0="1 53 42.444" max_dist_from_home="400" name="DGA 09 Cour" security_height="1">
<waypoints>
<waypoint alt="5.0" name="HOME" x="0.0" y="0.0"/>
<waypoint alt="8.0" name="D1" lat="48 51 41.166" lon="1 53 42.444"/>
<waypoint alt="8.0" name="P1" lat="48 51 41.960" lon="1 53 42.344"/>
<waypoint alt="8.0" name="P2" lat="48 51 41.977" lon="1 53 41.555"/>
<waypoint alt="8.0" name="P3" lat="48 51 42.547" lon="1 53 41.631"/>
<waypoint alt="8.0" name="CAM" x="0.0" y="30.0"/>
</waypoints>
<blocks>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 3)"/>
<call fun="NavSetAltitudeReferenceHere()"/> <!-- TODO reset alt only -->
</block>
<block name="Holding point">
<stay alt="POS_BFP_OF_REAL(-20.0)" vmode="alt" wp="D1"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(1.5)" deroute="Standby"/>
<attitude roll="0" pitch="0" throttle="0.65" vmode="throttle"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="HOME"/>
</block>
<block name="Go and Wait P1">
<go from="D1" hmode="route" wp="P1"/>
<stay wp="P1"/>
</block>
<block name="Route">
<go from="P1" hmode="route" wp="P2"/>
<go from="P2" hmode="route" wp="P3"/>
<stay wp="P3"/>
</block>
<block name="Route back">
<go from="P3" hmode="route" wp="P2"/>
<go from="P2" hmode="route" wp="D1"/>
<deroute block="Standby"/>
</block>
<block name="Land">
<go wp="D1"/>
<stay climb="-0.6" vmode="climb" wp="D1"/>
</block>
<block name="Flare">
<attitude pitch="0.0" roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/dga_nav.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="5" ground_alt="0" lat0="48 51 39.266" lon0="1 53 40.116" max_dist_from_home="400" name="DGA 09 Nav" security_height="1">
<waypoints>
<waypoint alt="5.0" name="HOME" x="-10.0" y="-20.0"/>
<waypoint alt="8.0" name="D2" lat="48 51 39.266" lon="1 53 40.116"/>
<waypoint alt="8.0" name="P1" lat="48 51 38.555" lon="1 53 38.409"/>
<waypoint alt="8.0" name="P2" lat="48 51 36.955" lon="1 53 36.207"/>
<waypoint alt="8.0" name="P3" lat="48 51 36.615" lon="1 53 39.902"/>
<waypoint alt="8.0" name="CAM" x="-50.0" y="-150.0"/>
</waypoints>
<blocks>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 3)"/>
<call fun="NavSetAltitudeReferenceHere()"/> <!-- TODO reset alt only -->
</block>
<block name="Holding point">
<stay alt="POS_BFP_OF_REAL(-20.0)" vmode="alt" wp="D2"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(1.5)" deroute="Standby"/>
<attitude roll="0" pitch="0" throttle="0.65" vmode="throttle"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="HOME"/>
</block>
<block name="Wait P1">
<exception cond="MoreThan(NavBlockTime(), 40)" deroute="Route"/>
<stay wp="P1"/>
</block>
<block name="Route">
<go from="P1" hmode="route" wp="P2"/>
<go from="P2" hmode="route" wp="P3"/>
<go from="P3" hmode="route" wp="P1"/>
<deroute block="Standby"/>
</block>
<block name="Land">
<go wp="D2"/>
<stay climb="-0.6" vmode="climb" wp="D2"/>
</block>
<block name="Flare">
<attitude pitch="0.0" roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>