mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 00:53:41 +08:00
Pascal Brisset
59 lines
2.2 KiB
XML
59 lines
2.2 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan SECURITY_HEIGHT="25" alt="450" ground_alt="400" lat0="43.4624" lon0="1.2727" max_dist_from_home="1000" name="Generic" qfu="270">
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<dl_settings>
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<dl_setting VAR="ir_roll_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
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<dl_setting VAR="ir_pitch_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
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<dl_setting VAR="roll_pgain" MAX="15000" STEP="250" MIN="1000"/>
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<dl_setting VAR="pitch_pgain" MAX="15000" STEP="250" MIN="1000"/>
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<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
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<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
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<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
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<dl_setting VAR="z_constrast_mode" MIN="0." STEP="1" MAX="1."/>
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<dl_setting VAR="rate_mode" MIN="0." STEP="1" MAX="1."/>
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<dl_setting VAR="altitude_shift" MIN="-50" STEP="10" MAX="1000"/>
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<!--
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<dl_setting VAR="roll_rate_pgain" MIN="0." STEP="1.0" MAX="2000."/>
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<dl_setting VAR="attitude_pgain" MAX="100" STEP="1" MIN="10"/>
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-->
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
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</dl_settings>
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<waypoints>
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<waypoint NAME="HOME" X="0" Y="0"/>
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<waypoint NAME="1" X="200" Y="0"/>
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<waypoint NAME="2" X="0" Y="200"/>
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<waypoint alt="450." name="S1" x="-181.37499716" y="122.374998203"/>
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<waypoint alt="450." name="S2" x="136.75000196" y="308.874998301"/>
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</waypoints>
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<include name="fs" procedure="failsafe_modes.xml">
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<arg name="kill_pitch" value="-0.5"/>
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</include>
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<blocks>
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<block NAME="wait GPS">
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<while COND="!GPS_FIX_VALID(gps_mode)"/>
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</block>
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<block name="init">
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<while COND="10 > block_time"/>
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<set var="unit" value="reset_nav_reference()"/>
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<set var="unit" value="reset_waypoints()"/>
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<deroute BLOCK="circlehome"/>
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</block>
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<block NAME="circlehome">
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<circle RADIUS="75" WP="HOME"/>
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</block>
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<block NAME="stack 1">
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<circle RADIUS="75" WP="1"/>
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</block>
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<block NAME="stack 2">
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<circle RADIUS="75" WP="2"/>
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</block>
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<block NAME="survey">
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<survey_rectangle grid="70" wp1="S1" wp2="S2"/>
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</block>
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</blocks>
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</flight_plan>
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