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https://github.com/paparazzi/paparazzi.git
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Updates for Elle0 v1_2 airframes (#1605)
This commit is contained in:
HooperFly
Felix Ruess
@@ -0,0 +1,223 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: ELLE0 1.2 with STM32F4 http://wiki.paparazziuav.org/wiki/ELLE0
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* IMU: MPU9250 & MS5611 http://wiki.paparazziuav.org/wiki/ELLE0#IMU
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* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
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* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="TeensyFly Quad Elle0 v1_2a">
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<firmware name="rotorcraft">
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<target name="ap" board="elle0_1.2">
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_FLAP"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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</module>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</module>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="elle0"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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<module name="send_imu_mag_current.xml"/>
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<module name="gps_ubx_ucenter.xml"/>
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<module name="geo_mag.xml"/>
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<module name="air_data.xml"/>
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<module name="nav_survey_rectangle_rotorcraft.xml">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
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</module>
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<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
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</firmware>
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<servos driver="Pwm">
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<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="2000"/>
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<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="2000"/>
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<servo name="BACK_RIGHT" no="2" min="1000" neutral="1100" max="2000"/>
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<servo name="BACK_LEFT" no="3" min="1000" neutral="1100" max="2000"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ -144, 144, -144, 144 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
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<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
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<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="BACK_LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Accelerometer calibration -->
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<define name="ACCEL_X_NEUTRAL" value="-53"/>
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<define name="ACCEL_Y_NEUTRAL" value="-10"/>
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<define name="ACCEL_Z_NEUTRAL" value="13"/>
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<define name="ACCEL_X_SENS" value="2.44427442675" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.45085830533" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.42961472475" integer="16"/>
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<!-- Magnetometer calibration -->
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<define name="MAG_X_NEUTRAL" value="114"/>
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<define name="MAG_Y_NEUTRAL" value="-596"/>
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<define name="MAG_Z_NEUTRAL" value="60"/>
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<define name="MAG_X_SENS" value="9.62237756981" integer="16"/>
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<define name="MAG_Y_SENS" value="8.07172424255" integer="16"/>
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<define name="MAG_Z_SENS" value="7.17342108751" integer="16"/>
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<!-- Magnetometer current calibration -->
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<define name= "MAG_X_CURRENT_COEF" value="-0.00118863160987"/>
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<define name= "MAG_Y_CURRENT_COEF" value="0.00188133273043"/>
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<define name= "MAG_Z_CURRENT_COEF" value="-0.000581966610048"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.36852472"/>
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<define name="H_Y" value="0.10300471"/>
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<define name="H_Z" value="0.9238937"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="30." unit="deg"/>
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<define name="SP_MAX_THETA" value="30." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="750"/>
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<define name="PHI_DGAIN" value="300"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="750"/>
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<define name="THETA_DGAIN" value="300"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="2820"/>
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<define name="PSI_DGAIN" value="1536"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="300"/>
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<define name="THETA_DDGAIN" value="300"/>
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<define name="PSI_DDGAIN" value="300"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="NAVIGATION" prefix="NAV_">
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<define name="CLIMB_VSPEED" value="1.5" />
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<define name="DESCEND_VSPEED" value="-1.0" />
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_MODE" value="4"/>
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</section>
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<section name="AUTOPILOT">
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<!-- TOGGLE STATES -->
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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<section name="GCS">
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<define name="ICONS_THEME" value="flat_theme"/>
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<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
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<define name="ALT_SHIFT_PLUS" value="10"/>
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<define name="ALT_SHIFT_MINUS" value="-10"/>
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<define name="SPEECH_NAME" value="Teensy Fly Quad Elle0 v1_2a"/>
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<define name="AC_ICON" value="quadrotor_x"/>
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</section>
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</airframe>
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@@ -0,0 +1,223 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: ELLE0 1.2 with STM32F4 http://wiki.paparazziuav.org/wiki/ELLE0
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* IMU: MPU9250 & MS5611 http://wiki.paparazziuav.org/wiki/ELLE0#IMU
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* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
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* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="TeensyFly Quad Elle0 v1_2b">
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<firmware name="rotorcraft">
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<target name="ap" board="elle0_1.2">
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_FLAP"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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</module>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</module>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="elle0"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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<module name="send_imu_mag_current.xml"/>
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<module name="gps_ubx_ucenter.xml"/>
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<module name="geo_mag.xml"/>
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<module name="air_data.xml"/>
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<module name="nav_survey_rectangle_rotorcraft.xml">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
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</module>
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<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
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</firmware>
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<servos driver="Pwm">
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<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="2000"/>
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<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="2000"/>
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<servo name="BACK_RIGHT" no="2" min="1000" neutral="1100" max="2000"/>
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<servo name="BACK_LEFT" no="3" min="1000" neutral="1100" max="2000"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ -144, 144, -144, 144 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
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<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
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<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="BACK_LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Accelerometer calibration -->
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<define name="ACCEL_X_NEUTRAL" value="-105"/>
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<define name="ACCEL_Y_NEUTRAL" value="-71"/>
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<define name="ACCEL_Z_NEUTRAL" value="-329"/>
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<define name="ACCEL_X_SENS" value="2.44835524329" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.4507612688" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.41133261482" integer="16"/>
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<!-- Magnetometer calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-28"/>
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<define name="MAG_Y_NEUTRAL" value="-243"/>
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<define name="MAG_Z_NEUTRAL" value="176"/>
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<define name="MAG_X_SENS" value="9.48837576047" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="8.84361654773" integer="16"/>
|
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<define name="MAG_Z_SENS" value="7.59864656662" integer="16"/>
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||||
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||||
<!-- Magnetometer current calibration -->
|
||||
<define name= "MAG_X_CURRENT_COEF" value="-0.002616138231"/>
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||||
<define name= "MAG_Y_CURRENT_COEF" value="0.00334020213634"/>
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||||
<define name= "MAG_Z_CURRENT_COEF" value="0.00758478782222"/>
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||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
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||||
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||||
<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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||||
<define name="H_X" value="0.36852472"/>
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||||
<define name="H_Y" value="0.10300471"/>
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||||
<define name="H_Z" value="0.9238937"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="30." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="30." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="750"/>
|
||||
<define name="PHI_DGAIN" value="300"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="750"/>
|
||||
<define name="THETA_DGAIN" value="300"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="2820"/>
|
||||
<define name="PSI_DGAIN" value="1536"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="NAVIGATION" prefix="NAV_">
|
||||
<define name="CLIMB_VSPEED" value="1.5" />
|
||||
<define name="DESCEND_VSPEED" value="-1.0" />
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<!-- TOGGLE STATES -->
|
||||
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="ICONS_THEME" value="flat_theme"/>
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
|
||||
<define name="ALT_SHIFT_PLUS" value="10"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-10"/>
|
||||
<define name="SPEECH_NAME" value="Teensy Fly Quad Elle0 v1_2b"/>
|
||||
<define name="AC_ICON" value="quadrotor_x"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,128 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="61" ground_alt="49" lat0="45.564133" lon0="-122.622467" max_dist_from_home="125" name="GSA 1 - Rotorcraft Multiflight (Portland)" security_height="2">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
</header>
|
||||
<waypoints>
|
||||
<waypoint name="HOME" x="-0.2" y="-7.1"/>
|
||||
<waypoint name="CLIMB" x="-4.9" y="-3.4"/>
|
||||
<waypoint name="STDBY" x="2.5" y="-0.2"/>
|
||||
<waypoint name="p1" x="-0.2" y="36.2"/>
|
||||
<waypoint name="p2" x="40.7" y="9.4"/>
|
||||
<waypoint name="p3" x="40.9" y="37.5"/>
|
||||
<waypoint name="p4" x="-0.3" y="10.1"/>
|
||||
<waypoint name="HOV" x="20.0" y="15.0"/>
|
||||
<waypoint name="CAM" x="30.0" y="15.0"/>
|
||||
<waypoint name="S1" x="-8.4" y="39.2"/>
|
||||
<waypoint name="S2" x="49.3" y="5.9"/>
|
||||
<waypoint name="TD" x="8.4" y="-8.0"/>
|
||||
</waypoints>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 10)"/>
|
||||
<call fun="NavSetGroundReferenceHere()"/>
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block group="init_control" name="Start Motors" strip_button="Start Motors" strip_icon="start_motors.png">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block group="init_control" name="Takeoff" strip_button="Takeoff" strip_icon="launch.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
|
||||
</block>
|
||||
<block group="waypoint_control_col1" name="Standby" strip_button="Standby" strip_icon="standby.png">
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block group="waypoint_control_col1" name="stay_p1" strip_button="Waypoint 1" strip_icon="waypoint_one.png">
|
||||
<stay wp="p1"/>
|
||||
</block>
|
||||
<block group="waypoint_control_col2" name="stay_p2" strip_button="Waypoint 2" strip_icon="waypoint_two.png">
|
||||
<stay wp="p2"/>
|
||||
</block>
|
||||
<block group="waypoint_control_col2" name="stay_p3" strip_button="Waypoint 3" strip_icon="waypoint_three.png">
|
||||
<stay wp="p3"/>
|
||||
</block>
|
||||
<block group="waypoint_control_col2" name="stay_p4" strip_button="Waypoint 4" strip_icon="waypoint_four.png">
|
||||
<stay wp="p4"/>
|
||||
</block>
|
||||
<block name="p1_nav">
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_p1)"/>
|
||||
<go wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="p2_nav">
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_p2)"/>
|
||||
<go wp="p2"/>
|
||||
<deroute block="stay_p2"/>
|
||||
</block>
|
||||
<block name="stay_HOV">
|
||||
<stay wp="HOV"/>
|
||||
</block>
|
||||
<block name="line_p1_p2">
|
||||
<go from="p1" hmode="route" wp="p2"/>
|
||||
<stay until="stage_time>10" wp="p2"/>
|
||||
<go from="p2" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="route_tri">
|
||||
<go from="p1" hmode="route" wp="p3"/>
|
||||
<go from="p3" hmode="route" wp="p4"/>
|
||||
<go from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="route_quad">
|
||||
<go from="p1" hmode="route" wp="p3"/>
|
||||
<go from="p3" hmode="route" wp="p2"/>
|
||||
<go from="p2" hmode="route" wp="p4"/>
|
||||
<go from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="path_rev_quad">
|
||||
<path wpts="p1, p4, p2, p3, p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="route_x">
|
||||
<go approaching_time="0" from="p1" hmode="route" wp="p2"/>
|
||||
<go approaching_time="0" from="p2" hmode="route" wp="p3"/>
|
||||
<go approaching_time="0" from="p3" hmode="route" wp="p4"/>
|
||||
<go approaching_time="0" from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block name="route_x_nav">
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_p2)"/>
|
||||
<go approaching_time="0" from="p1" hmode="route" wp="p2"/>
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_p3)"/>
|
||||
<go approaching_time="0" from="p2" hmode="route" wp="p3"/>
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_p4)"/>
|
||||
<go approaching_time="0" from="p3" hmode="route" wp="p4"/>
|
||||
<call fun="nav_set_heading_towards_waypoint(WP_p1)"/>
|
||||
<go approaching_time="0" from="p4" hmode="route" wp="p1"/>
|
||||
<deroute block="stay_p1"/>
|
||||
</block>
|
||||
<block group="land_pattern" name="land here" strip_button="Land Here" strip_icon="land_here.png">
|
||||
<call fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block group="land_pattern" name="land" strip_button="Land" strip_icon="land.png">
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="flare">
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="landed"/>
|
||||
<call fun="NavStartDetectGround()"/>
|
||||
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="landed">
|
||||
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
Reference in New Issue
Block a user