mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 21:36:28 +08:00
Gautier Hattenberger
84 lines
3.5 KiB
XML
84 lines
3.5 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="260" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Dynamic sectors demo" qfu="270" security_height="25" home_mode_height="50">
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<header>
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#include "modules/datalink/datalink.h"
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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="20" y="80"/>
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<waypoint name="1" x="44.8" y="102.2"/>
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<waypoint alt="215.0" name="AF" x="200" y="-10"/>
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<waypoint alt="185.0" name="TD" x="80.0" y="20.0"/>
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<waypoint name="BASELEG" x="26.9" y="-23.0"/>
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<waypoint name="C1" x="-100" y="0"/>
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<waypoint name="C2" x="-100" y="200"/>
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<waypoint name="C3" x="100" y="200"/>
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<waypoint name="C4" x="100" y="0"/>
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<waypoint name="CLIMB" x="-122.5" y="35.4"/>
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</waypoints>
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<sectors>
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<sector name="Square">
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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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</sector>
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</sectors>
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<exceptions/>
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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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<!--call_once fun="NavSetAltitudeReferenceHere()"/-->
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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 name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
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<exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
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<set value="0" var="autopilot.kill_throttle"/>
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<go wp="CLIMB"/>
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</block>
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<block 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 name="Fly in Square">
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<exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
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<attitude alt="GetAltRef()+75" roll="0" vmode="alt"/>
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</block>
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<block name="Come back wp 1">
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<exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
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<go wp="1"/>
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<deroute block="Fly in Square"/>
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</block>
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<block 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 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() @GT 0.5" wp="BASELEG"/>
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<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
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</block>
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<block name="final">
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<exception cond="GetAltRef() + 10 @GT 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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