mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
Gautier Hattenberger
28ef30ed80
This is a complete rework of the navigation for rotorcraft with the key features: - all nav functions and interface in float - nav function are registered (decoupling between nav API and implementation of standard pattern) - submodes to specify if setpoint is a position (legacy), speed or accel (better integration of algorithms like GVF) - guidance (H and V) is reorganized with default function to implement (run_pos, run_speed, run_accel) - guidance control (the old default PID) is separated from the guidance logic --------- Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
94 lines
3.4 KiB
XML
94 lines
3.4 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
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<header>
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#include "autopilot.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0.0" y="0.0"/>
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<waypoint name="CLIMB" x="0.0" y="5.0"/>
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<waypoint name="STDBY" x="-2.0" y="-5.0"/>
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<waypoint name="p1" x="3.6" y="-13.9"/>
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<waypoint name="p2" x="27.5" y="-48.2"/>
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<waypoint name="p3" x="16.7" y="-19.6"/>
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<waypoint name="p4" x="13.7" y="-40.7"/>
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<waypoint name="CAM" x="-20" y="-50" height="2."/>
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<waypoint name="TD" x="5.6" y="-10.9"/>
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</waypoints>
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<blocks>
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<block name="Wait GPS">
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<call_once fun="NavKillThrottle()"/>
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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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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
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</block>
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<block name="Start Engine">
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<call_once fun="NavResurrect()"/>
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<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="stateGetPositionEnu_f() @DEREF z @GT 2.0" deroute="Standby"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay vmode="climb" climb="nav.climb_vspeed" 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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<stay wp="STDBY"/>
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</block>
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<block name="stay_p1">
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<stay wp="p1"/>
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</block>
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<block name="go_p2">
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<call_once fun="nav_set_heading_deg(90)"/>
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<go wp="p2"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="line_p1_p2">
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<go from="p1" hmode="route" wp="p2"/>
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<stay wp="p2" until="stage_time @GT 10"/>
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<go from="p2" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="route">
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<go from="p1" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="Oval">
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<oval p1="p1" p2="p2" radius="-1"/>
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</block>
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<block name="test yaw">
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<go wp="p1"/>
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<for var="i" from="1" to="16">
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<heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time @GT 3"/>
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</for>
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<deroute block="Standby"/>
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</block>
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<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
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<circle radius="nav.radius" wp="CAM"/>
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</block>
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<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="land">
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<go wp="TD"/>
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</block>
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<block name="flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="landed"/>
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="nav.descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="landed">
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<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
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</block>
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</blocks>
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</flight_plan>
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