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GVF Parametric (#2559)

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Co-authored-by: Hector Garcia de Marina <hgdemarina@gmail.com>
This commit is contained in:
Hector Garcia de Marina
2020-09-18 20:52:35 +02:00
committed by GitHub
parent 99c8d473aa
commit f38be8110c
17 changed files with 1870 additions and 72 deletions
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conf/flight_plans/demo_gvf.xml
+14
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@@ -29,10 +29,12 @@
<variables>
<variable var="angle_ps" init="0" min="-180" max="179" step="1"/>
<variable init="0" max="100" min="0" step="5" var="ell_delta"/>
</variables>
<modules>
<module name="gvf_module"/>
<module name="gvf_parametric"/>
</modules>
<blocks>
@@ -78,6 +80,18 @@
<call_once fun="gvf_nav_survey_polygon_setup(WP_S1, 4, angle_ps, 30, 30, 40, flight_altitude)"/>
<call fun="gvf_nav_survey_polygon_run()"/>
</block>
<block name="3D_ellipse">
<call fun="gvf_parametric_3D_ellipse_wp_delta(WP_ELLIPSE,gvf_parametric_3d_ellipse_par.r,flight_altitude-ground_alt,ell_delta,gvf_parametric_3d_ellipse_par.alpha)"/>
</block>
<block name="3D_lissajous">
<call fun="gvf_parametric_3D_lissajous_wp_center(WP_ELLIPSE,flight_altitude-ground_alt,gvf_parametric_3d_lissajous_par.cx, gvf_parametric_3d_lissajous_par.cy, gvf_parametric_3d_lissajous_par.cz, gvf_parametric_3d_lissajous_par.wx, gvf_parametric_3d_lissajous_par.wy, gvf_parametric_3d_lissajous_par.wz, gvf_parametric_3d_lissajous_par.dx, gvf_parametric_3d_lissajous_par.dy, gvf_parametric_3d_lissajous_par.dz, gvf_parametric_3d_lissajous_par.alpha)"/>
</block>
<block name="2D_trefoil">
<call_once fun="NavVerticalAutoThrottleMode(0.0)"/>
<call_once fun="NavVerticalAltitudeMode(flight_altitude, 0.0)"/>
<call fun="gvf_parametric_2D_trefoil_wp(WP_ELLIPSE,gvf_parametric_2d_trefoil_par.w1,gvf_parametric_2d_trefoil_par.w2,gvf_parametric_2d_trefoil_par.ratio,gvf_parametric_2d_trefoil_par.r, gvf_parametric_2d_trefoil_par.alpha)"/>
</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"/>
<deroute block="land"/>