mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 14:18:00 +08:00
Gautier Hattenberger
110 lines
4.2 KiB
XML
110 lines
4.2 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="40" ground_alt="0" lat0="52.170867" lon0="4.412194" max_dist_from_home="1000" name="Transitioning test" security_height="2">
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<header>
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#include "autopilot.h"
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#include "modules/radio_control/radio_control.h"
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#include "modules/energy/electrical.h"
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#include "modules/actuators/actuators.h"
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#include "firmwares/rotorcraft/guidance/guidance_h.h"
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#include "firmwares/rotorcraft/guidance/guidance_hybrid.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="STDBY" x="11.2" y="15.5"/>
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<waypoint name="p1" x="98.2" y="-123.9"/>
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<waypoint name="p2" x="18.8" y="104.2"/>
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<waypoint name="p3" x="103.2" y="145.7"/>
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<waypoint name="p4" x="216.8" y="-82.9"/>
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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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</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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<set value="FALSE" var="force_forward_flight"/>
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<call_once fun="NavResurrect()"/>
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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 5.0" deroute="Climb"/>
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<set value="FALSE" var="force_forward_flight"/>
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<attitude pitch="0" roll="0" throttle="0.5" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Climb">
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<exception cond="GetPosHeight() @GT 20.0" deroute="Standby"/>
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<set value="FALSE" var="force_forward_flight"/>
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<stay climb="2" vmode="climb" wp="STDBY"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<exception cond="radio_control.status @GT RC_OK" deroute="land"/>
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<set value="FALSE" var="force_forward_flight"/>
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<stay wp="STDBY"/>
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</block>
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<block name="stay_p1">
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<exception cond="radio_control.status @GT RC_OK" deroute="land"/>
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<set value="FALSE" var="force_forward_flight"/>
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<stay wp="p1"/>
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</block>
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<block name="go_p2_p1">
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<exception cond="radio_control.status @GT RC_OK" deroute="land"/>
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<set value="FALSE" var="force_forward_flight"/>
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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="pylon_racing">
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<exception cond="radio_control.status @GT RC_OK" deroute="land"/>
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<set value="FALSE" var="force_forward_flight"/>
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<go wp="p2"/>
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<go wp="p3"/>
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<go wp="p4"/>
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<go wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="pylon_racing_forward">
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<exception cond="radio_control.status @GT RC_OK" deroute="land"/>
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<set value="TRUE" var="force_forward_flight"/>
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<go wp="p2"/>
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<go wp="p3"/>
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<go wp="p4"/>
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<set value="FALSE" var="force_forward_flight"/>
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<go wp="p1"/>
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<deroute block="stay_p1"/>
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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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<set value="FALSE" var="force_forward_flight"/>
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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</block>
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<block name="land">
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<set value="FALSE" var="force_forward_flight"/>
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<go wp="STDBY"/>
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</block>
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<block name="descent">
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<exception cond="8.0 @GT GetPosHeight()" deroute="descent_slow"/>
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<stay climb="-1" vmode="climb" wp="STDBY"/>
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</block>
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<block name="descent_slow">
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<exception cond="2.0 @GT GetPosHeight()" deroute="flare"/>
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<stay climb="-1" vmode="climb" wp="STDBY"/>
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</block>
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<block name="flare">
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<exception cond="0.3 @GT sonar_adc.distance" deroute="landed"/>
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<attitude pitch="0" roll="0" throttle="0.13" vmode="throttle"/>
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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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