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Antoine Drouin
2005-08-27 15:52:14 +00:00
parent 0175ef2c64
commit d5ae733e19
1 changed files with 95 additions and 0 deletions
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conf/flight_plans/muret4.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan NAME="example - Muret4" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
<rc_control>
<mode NAME="AUTO1">
<setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
<setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_2_up" TYPE="int16"/>
<setting VAR="pitch_pgain" RANGE="1000." RC="gain_1_down" TYPE="int16"/>
<setting VAR="roll_pgain" RANGE="-1000." RC="gain_2_down" TYPE="int16"/>
</mode>
<mode NAME="AUTO2">
<setting VAR="pitch_of_roll" RANGE="0.1" RC="gain_1_down" TYPE="float"/>
<setting VAR="pitch_of_vz" RANGE=".2" RC="gain_2_down" TYPE="float"/>
<setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
<setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_2_up" TYPE="int16"/>
</mode>
</rc_control>
<waypoints utm_x0="360284.8" utm_y0="4813595.5">
<waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
<waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
<waypoint name="4" x="162.5" y="210.0" lat="43.4641503744" lon="1.27484411158" alt="250."/>
<waypoint name="5" x="97.5" y="60.0" lat="43.4627882109" lon="1.27407935592" alt="250."/>
<waypoint name="2" x="-130.0" y="217.5" lat="43.4641632754" lon="1.27122790867" alt="250."/>
<waypoint name="1" x="-100.0" y="60.0" lat="43.4627513408" lon="1.2716390001" alt="250."/>
<waypoint name="RWAY" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="185."/>
<waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
<waypoint name="IAF" x="267.5" y="200.0" alt="250."/>
</waypoints>
<include name="slow" procedure="circles.xml" x="00" y="200" rotate="0">
<arg name="vz" value="0.5"/>
<arg name="top" value="GROUND_ALT+200"/>
<arg name="bottom" value="GROUND_ALT+50"/>
<with from="event1" to="fast.climb"/>
</include>
<include name="fast" procedure="circles.xml" x="00" y="200" rotate="0">
<arg name="rad" value="150"/>
<arg name="bottom" value="GROUND_ALT+50"/>
<with from="event1" to="xyz"/>
</include>
<include name="hippo1" procedure="hippo.xml" x="-100" y="150" rotate="0">
<arg name="alt" value="GROUND_ALT+100"/>
<with from="event1" to="penta"/>
</include>
<blocks>
<block NAME="init">
<while COND="(!launch)"/>
<heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
<heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
</block>
<block NAME="deux">
<exception COND="(RcEvent1())" DEROUTE="hippo1.loop"/>
<circle WP="HOME" alt="GROUND_ALT+50" radius="75"/>
</block>
<block NAME="penta">
<exception COND="(RcEvent1())" DEROUTE="slow.climb"/>
<while>
<go hmode="route" from="1" wp="2"/>
<go hmode="route" from="2" wp="3"/>
<go hmode="route" from="3" wp="4"/>
<go hmode="route" from="4" wp="1"/>
</while>
</block>
<block NAME="xyz">
<exception COND="(RcEvent1())" DEROUTE="land"/>
<xyz/>
</block>
<block NAME="land">
<exception COND="(RcEvent1())" DEROUTE="rdg"/>
<exception COND="(GROUND_ALT+10> estimator_z)" DEROUTE="rdg"/>
<exception COND="(RcEvent2())" DEROUTE="stop"/>
<circle WP="2" radius="50" ALT="215" UNTIL="And(225 > estimator_z, Qdr(0))"/>
<go WP="IAF" ALT="215"/>
<go WP="AF" ALT="215"/>
<go WP="RWAY" HMODE="route" VMODE="glide"/>
</block>
<block NAME="rdg">
<exception COND="(RcEvent1())" DEROUTE="land"/>
<heading CLIMB="2.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > GROUND_ALT+25)"/>
<deroute block="land"/>
</block>
<block name="stop">
<exception COND="(RcEvent1())" DEROUTE="rdg"/>
<stay wp="HOME" vmode="gaz" gaz="0"/>
</block>
</blocks>
</flight_plan>