mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 19:17:28 +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>
78 lines
2.9 KiB
XML
78 lines
2.9 KiB
XML
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="0.4" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="20" name="Rotorcraft Optitrack (Delft)" security_height="0.2">
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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="1.2" y="-0.6"/>
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<waypoint name="GOAL" x="2.0" y="2.0"/>
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<waypoint name="STDBY" x="-0.7" y="-0.8"/>
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<waypoint name="TD" x="-0.9" y="0.0"/>
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<waypoint lat="51.9906079" lon="4.3767862" name="p1"/>
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<waypoint lat="51.9906019" lon="4.3767733" name="p2"/>
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<waypoint lat="51.9906213" lon="4.3768628" name="FA1"/>
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<waypoint lat="51.9905874" lon="4.3767766" name="FA2"/>
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<waypoint lat="51.9906409" lon="4.3767226" name="FA3"/>
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<waypoint lat="51.9906737" lon="4.3768074" name="FA4"/>
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</waypoints>
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<sectors>
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<sector color="red" name="Flight_Area">
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<corner name="FA4"/>
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<corner name="FA3"/>
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<corner name="FA2"/>
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<corner name="FA1"/>
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</sector>
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</sectors>
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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="Holding point">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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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" until="FALSE" vmode="throttle"/>
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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="GetPosHeight() @GT 0.3" deroute="stay_p1"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay 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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<call_once fun="nav_set_heading_deg(-30)"/>
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<stay until="stage_time>3" wp="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 until="stage_time>10" wp="p2"/>
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<go from="p2" hmode="route" wp="p1"/>
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<stay until="stage_time>10" wp="p1"/>
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<deroute block="line_p1_p2"/>
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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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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="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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