mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 21:07:40 +08:00
Gautier Hattenberger
47 lines
1.8 KiB
XML
47 lines
1.8 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="100" ground_alt="54" lat0="52.3825204" lon0="5.897420" max_dist_from_home="1500" name="EMAV09" security_height="25">
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<header>
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#include "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="96.2" y="-36.2"/>
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<waypoint name="1" x="34.6" y="-31.9"/>
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<waypoint name="2" x="174.3" y="79.9"/>
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<waypoint name="MOB" x="418.5" y="208.7"/>
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<waypoint alt="104.0" name="CLIMB" x="-0.2" y="-97.2"/>
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</waypoints>
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<includes>
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<include name="Safety" procedure="EMAV2009_data.xml"/>
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<include name="Safety" procedure="EMAV2009_safety.xml"/>
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<include name="L" procedure="landing.xml"/>
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</includes>
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<exceptions/>
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<blocks>
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<block name="Holding point">
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<set value="1" var="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_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="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 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="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
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<eight center="1" radius="nav_radius" turn_around="2"/>
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</block>
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<block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
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<call fun="NavSetWaypointHere(WP_MOB)"/>
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<circle radius="nav_radius" wp="MOB"/>
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</block>
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</blocks>
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</flight_plan>
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