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[fixedwing] convert Osam navigation routines to a module. Common naming for start and run functions

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This commit is contained in:
Loic Drumettaz
2013-08-27 10:53:06 +02:00
committed by Felix Ruess
parent e2ccf1b6a3
commit e04af9bbfb
6 changed files with 82 additions and 32 deletions
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conf/flight_plans/nav_modules.xml
+32 -1
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@@ -72,6 +72,7 @@
<block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<!--===================== Nav modules example blocks =================================-->
<block name="Poly Survey S1-S2" strip_button="Poly Survey">
<call fun="init_poly_survey_adv(WP_S1,5,0,30,10,50,100)"/>
<call fun="poly_survey_adv()"/>
@@ -80,7 +81,7 @@
<call fun="border_line_init()"/>
<call fun="border_line(WP_1, WP_2, nav_radius)"/>
</block>
<block name="Smooth nav">
<block name="Smooth nav" strip_button="Smooth nav (wp 1-2)">
<set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
<call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
<call fun="snav_circle1()"/>
@@ -90,6 +91,36 @@
<go from="1" hmode="route" wp="2"/>
<deroute block="Standby"/>
</block>
<!-- ===================== OSAM Nav modules example blocks =========================-->
<block name="Flower" strip_button="Flower (wp 1-2)">
<call fun="flower_start(WP_1, WP_2)"/>
<call fun="flower_run()"/>
</block>
<block name="Bungee take-off">
<call fun="bungee_takeoff_start(WP_HOME)"/>
<call fun="bungee_takeoff_run()"/>
</block>
<block name="Skid Landing">
<call fun="skid_landing_start(WP_AF,WP_TD,nav_radius)"/>
<call fun="skid_landing_run()"/>
</block>
<block name="Poly survey">
<call fun="osam_poly_survey_start(WP_S1, 5, 50, 45)"/>
<call fun="osam_poly_survey_run()"/>
</block>
<block name="Flight Line block">
<call fun="osam_flight_line_block_run(WP_S1, WP_S5, nav_radius, 30, 10)"/>
</block>
<block name="Vertical Raster">
<call fun="vertical_raster_start()"/>
<call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
</block>
<block name="Vertical Raster">
<call fun="vertical_raster_start()"/>
<call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
</block>
<!--====================================================================================-->
<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>