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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
321173fd32
These patterns have been developped during an atmospheric science project to track clouds in real-time based on sensor data. The modifications includes: - adding adaptive nav modules (lace, rosette, trinity, spiral_3D) - new or improved meteo sensor modules (cloud sensor, meteostick) - improvements to mission interface (UPDATE message, waiting patterns, unique ID check) - compact telemetry message MINIMAL_COM to reduce bandwidth (message supported by server and logplotter) - basic cloud simulation module (circle or polygon sector) and demo flight plan See for details: Titouan Verdu, Gautier Hattenberger, Simon Lacroix. Flight patterns for clouds exploration with a fleet of UAVs. 2019 International Conference on Unmanned Aircraft Systems (ICUAS 2019), Jul 2019, Atlanta, United States. https://hal-enac.archives-ouvertes.fr/hal-02137839
117 lines
5.3 KiB
XML
117 lines
5.3 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="15000" name="Cloud Sim" security_height="25">
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<header/>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="STDBY" x="49.5" y="100.1"/>
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<waypoint name="CLOUD" x="154.4" y="156.5"/>
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<waypoint name="C1" x="206.9" y="464.7"/>
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<waypoint name="C2" x="469.1" y="379.4"/>
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<waypoint name="C3" x="485.7" y="166.1"/>
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<waypoint name="C4" x="201.2" y="113.1"/>
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<waypoint name="C5" x="28.3" y="361.1"/>
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<waypoint name="O1" x="-202.3" y="366.7"/>
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<waypoint name="O2" x="-134.9" y="221.7"/>
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<waypoint name="TARGET" x="120." y="120."/>
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<waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
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<waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
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<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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</waypoints>
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<sectors>
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<sector name="Cloud" color="white">
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<corner name="C1"/>
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<corner name="C2"/>
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<corner name="C3"/>
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<corner name="C4"/>
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<corner name="C5"/>
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</sector>
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</sectors>
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<variables>
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<variable init="80." max="500." min="80." step="1.0" type="float" var="fp_radius"/>
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<variable init="0." max="10." min="-10." step="0.1" type="float" var="fp_vx"/>
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<variable init="0." max="10." min="-10." step="0.1" type="float" var="fp_vy"/>
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<variable init="0." max="10." min="-10." step="0.1" type="float" var="fp_vz"/>
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</variables>
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<modules>
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<module name="cloud_sim">
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<define name="CLOUD_SIM_MODE" value="CLOUD_SIM_POLYGON"/>
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</module>
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<module name="nav" type="lace"/>
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<module name="nav" type="rosette"/>
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<module name="nav" type="trinity"/>
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<module name="nav" type="spiral_3D"/>
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<module name="mission" type="fw"/>
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</modules>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="autopilot.kill_throttle"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call_once fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="autopilot.kill_throttle"/>
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<attitude roll="0" throttle="0" vmode="throttle"/>
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</block>
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<block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
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<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
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<set value="0" var="autopilot.kill_throttle"/>
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<set value="0" var="autopilot.flight_time"/>
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<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block group="adaptive" name="Trinity" strip_button="Trinity">
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<call_once fun="nav_trinity_setup(WaypointX(WP_TARGET), WaypointY(WP_TARGET), WaypointAlt(WP_TARGET)-GetAltRef(), 1, fp_radius, fp_vx, fp_vy, fp_vz)"/>
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<call fun="nav_trinity_run()"/>
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<deroute block="Standby"/>
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</block>
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<block group="adaptive" name="Lace" strip_button="Lace">
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<call_once fun="nav_lace_setup(WaypointX(WP_TARGET), WaypointY(WP_TARGET), WaypointAlt(WP_TARGET)-GetAltRef(), 1, fp_radius, fp_vx, fp_vy, fp_vz)"/>
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<call fun="nav_lace_run()"/>
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<deroute block="Standby"/>
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</block>
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<block group="adaptive" name="Rosette" strip_button="Rosette">
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<call_once fun="nav_rosette_setup(WaypointX(WP_TARGET), WaypointY(WP_TARGET), WaypointAlt(WP_TARGET)-GetAltRef(), 1, fp_radius, fp_vx, fp_vy, fp_vz)"/>
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<call fun="nav_rosette_run()"/>
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<deroute block="Standby"/>
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</block>
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<block group="adaptive" name="Mission" strip_button="Mission">
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<call fun="mission_run()"/>
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<deroute block="Standby"/>
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</block>
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<block group="std_pattern" name="Oval 1-2" strip_button="Oval" strip_icon="oval.png">
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<oval p1="O1" p2="O2" radius="nav_radius"/>
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</block>
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<block group="std_pattern" name="Survey 1-2" strip_button="Survey" strip_icon="survey.png">
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<survey_rectangle grid="150" wp1="O1" wp2="O2"/>
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</block>
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<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block group="land" name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
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<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="land">
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<call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND (fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)) @LT 10)" wp="_BASELEG"/>
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</block>
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<block name="final">
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<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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