Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-25 23:46:04 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

TOD removed, BASELEG hidden, full throttle for takeoff

Browse Source
This commit is contained in:
Pascal Brisset
2007-12-20 09:56:09 +00:00
parent 81418489e8
commit d20c997f7d
1 changed files with 13 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/flight_plans/basic.xml
+13 -15
View File
@@ -7,16 +7,15 @@
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="9.4" y="162.3"/>
<waypoint name="1" x="82.2" y="205.2"/>
<waypoint name="2" x="219.2" y="217.2"/>
<waypoint name="MOB" x="146.6" y="-37.0"/>
<waypoint name="S1" x="-135.8" y="1.0"/>
<waypoint name="S2" x="295.2" y="359.6"/>
<waypoint name="STDBY" x="49.5" y="100.1"/>
<waypoint name="1" x="10.1" y="189.9"/>
<waypoint name="2" x="132.3" y="139.1"/>
<waypoint name="MOB" x="137.0" y="-11.6"/>
<waypoint name="S1" x="-119.2" y="69.6"/>
<waypoint name="S2" x="274.4" y="209.5"/>
<waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
<waypoint name="TOD" x="168.7" y="-65.4"/>
<waypoint alt="0.0" name="TD" x="-28.0" y="86.8"/>
<waypoint name="BASELEG" x="137.6" y="-51.0"/>
<waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
<waypoint name="CLIMB" x="-114.5" y="162.3"/>
</waypoints>
<exceptions/>
@@ -37,7 +36,7 @@
<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="estimator_flight_time"/>
<go wp="CLIMB" from="HOME"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
@@ -70,17 +69,16 @@
<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) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
<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) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<!-- <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/> -->
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="TOD" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<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>
</blocks>