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This commit is contained in:
Pascal Brisset
2007-09-13 10:34:53 +00:00
parent 71583e5d46
commit dafe749525
3 changed files with 23 additions and 4 deletions
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conf/flight_plans/slayer_training.xml
+7 -3
View File
@@ -17,13 +17,14 @@
<waypoint name="BASELEG" x="309.9" y="138.1"/>
<waypoint name="STDBY" x="-82.4" y="33.8"/>
<waypoint name="RELEASE" x="126.9" y="181.6"/>
<waypoint name="START" x="168.8" y="-2.6" alt="30"/>
<waypoint alt="30" name="START" x="168.8" y="-2.6"/>
<waypoint name="CLIMB" x="19.2" y="212.5"/>
<waypoint alt="0.0" name="TARGET" x="25.4" y="73.2"/>
<waypoint name="A1" x="58.8" y="23.3"/>
<waypoint name="A2" x="-30.7" y="66.8"/>
<waypoint name="A1__" x="139.1" y="-5.0"/>
<waypoint name="A2__" x="-119.6" y="111.7"/>
<waypoint alt="10.0" name="A1__" x="150.9" y="16.5"/>
<waypoint alt="10.0" name="A2__" x="-96.5" y="126.9"/>
<waypoint alt="15.0" name="A0" x="214.6" y="103.7"/>
</waypoints>
<blocks>
<block name="wait GPS">
@@ -67,6 +68,9 @@
<set value="BombCloseHatch()" var="unit"/>
<deroute block="standby"/>
</block>
<block name="arch0">
<circle radius="nav_radius" wp="A0"/>
</block>
<block name="arch">
<go from="A1__" hmode="route" wp="A2__"/>
<deroute block="standby"/>
conf/flight_plans/versatile.xml
+4 -1
View File
@@ -67,7 +67,10 @@
<circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
</block>
<block name="climb 75">
<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"/>
<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"/>
</block>
<block name="climb var">
<circle radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1" climb="nav_climb"/>
</block>
<block name="climb 1">
<circle climb="1" pitch="5" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
conf/settings/baro.xml
+12
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@@ -0,0 +1,12 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings NAME="control">
<dl_settings name="baro">
<dl_setting MAX="1" MIN="0" STEP="1" module="baro_MS5534A" VAR="alt_baro_enabled"/>
<dl_setting MAX="103000" MIN="90000" STEP="10" module="baro_MS5534A" VAR="baro_MS5534A_ground_pressure"/>
<dl_setting MAX="20" MIN="0.5" STEP="0.1" module="baro_MS5534A" VAR="baro_MS5534A_r"/>
<dl_setting MAX="1" MIN="0.1" STEP="0.1" module="baro_MS5534A" VAR="baro_MS5534A_sigma2"/>
</dl_settings>
</dl_settings>
</settings>