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https://github.com/paparazzi/paparazzi.git
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Antoine Drouin
@@ -113,7 +113,6 @@
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.03"/>
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<!-- outer loop saturation -->
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@@ -0,0 +1,146 @@
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
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<header>
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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" y="0"/>
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<waypoint name="STDBY" x="20" y="80"/>
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<waypoint name="1" x="44.8" y="102.2"/>
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<waypoint name="2" x="-63.5" y="122.9"/>
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<waypoint name="MOB" x="-11.5" y="-21.2"/>
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<waypoint name="S1" x="-151.6" y="80.4"/>
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<waypoint name="S2" x="180.1" y="214.9"/>
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<waypoint alt="30" name="AF" x="200" y="-10"/>
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<waypoint alt="0" name="TD" x="80.0" y="20.0"/>
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<waypoint name="BASELEG" x="26.9" y="-23.0"/>
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<waypoint name="_1" x="-100" y="0"/>
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<waypoint name="_2" x="-100" y="200"/>
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<waypoint name="_3" x="100" y="200"/>
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<waypoint name="_4" x="100" y="0"/>
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<waypoint name="CLIMB" x="-122.5" y="35.4"/>
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</waypoints>
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<sectors>
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<sector name="Square">
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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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<corner name="_4"/>
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</sector>
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</sectors>
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<exceptions/>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="kill_throttle"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="kill_throttle"/>
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<attitude roll="0" throttle="0" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
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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="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
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<eight center="1" radius="nav_radius" turn_around="2"/>
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</block>
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<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
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<oval p1="1" p2="2" radius="nav_radius"/>
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</block>
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<block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
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<call fun="NavSetWaypointHere(WP_MOB)"/>
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<circle radius="100" wp="MOB"/>
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</block>
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<block name="Auto pitch (circle wp 1)">
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<circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
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</block>
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<block name="Climb 75% throttle">
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<circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
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</block>
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<block name="Climb 0m/s">
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<circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
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</block>
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<block name="Climb 1m/s">
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<circle climb="1" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
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</block>
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<block name="Climb nav_climb m/s">
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<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
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</block>
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<block name="Descent 0% throttle">
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<circle pitch="-5" radius="50+(estimator_z-ground_alt)/2" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
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<deroute block="Standby"/>
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</block>
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<block name="Route 1-2">
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<go approaching_time="0" from="1" hmode="route" wp="2"/>
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</block>
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<block name="Stack wp 2">
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<circle radius="75" wp="2"/>
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</block>
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<block name="Route 2-1">
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<go approaching_time="0" from="2" hmode="route" wp="1"/>
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</block>
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<block name="Stack wp 1">
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<circle radius="75" wp="1"/>
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</block>
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<block name="Glide 1-2">
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<go from="1" hmode="route" vmode="glide" wp="2"/>
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<deroute block="Standby"/>
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</block>
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<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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</block>
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<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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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 Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
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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, 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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</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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</block>
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<block name="Steps roll -10, +10">
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<while cond="TRUE">
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<attitude alt="250" roll="10.0" until=" stage_time > 6" vmode="alt"/>
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<attitude alt="250" roll="-10.0" until="stage_time > 6" vmode="alt"/>
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</while>
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</block>
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<block name="Steps roll -20, +20">
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<while cond="TRUE">
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<attitude alt="250" roll="20.0" until=" stage_time > 3" vmode="alt"/>
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<attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
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</while>
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</block>
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<block name="Steps pitch -10, +10">
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<while cond="TRUE">
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<attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
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<attitude alt="250" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
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</while>
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</block>
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<block name="Heading 30">
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<heading alt="ground_alt+50" course="30" until="FALSE"/>
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</block>
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</blocks>
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</flight_plan>
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