mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
75 lines
3.1 KiB
XML
75 lines
3.1 KiB
XML
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Nederdrone Cyberzoo" security_height="0.4">
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<header>
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#include "modules/datalink/datalink.h"
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#include "modules/energy/electrical.h"
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#include "modules/radio_control/radio_control.h"
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#include "modules/ahrs/ahrs.h"
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#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
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#include "firmwares/rotorcraft/navigation.h"
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</header>
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<waypoints>
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<waypoint lat="51.990631" lon="4.376808" name="HOME"/>
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<waypoint name="CLIMB" x="-0.7" y="-0.6"/>
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<waypoint name="STDBY" x="0.5" y="0.3"/>
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<waypoint name="ROPE" x="-2.4" y="1.3"/>
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<waypoint name="TD" x="0.6" y="-1.3"/>
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<waypoint lat="51.9905834" lon="4.3767710" name="_CZ1"/>
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<waypoint lat="51.9906440" lon="4.3767060" name="_CZ2"/>
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<waypoint lat="51.9906860" lon="4.3768080" name="_CZ3"/>
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<waypoint lat="51.9906238" lon="4.3768729" name="_CZ4"/>
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</waypoints>
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<sectors>
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<sector color="blue" name="CyberZoo">
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<corner name="_CZ1"/>
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<corner name="_CZ2"/>
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<corner name="_CZ3"/>
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<corner name="_CZ4"/>
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</sector>
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</sectors>
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<variables>
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<!-- <variable var="rope_heading" init="0.0f" type="float" min="-180.0" max="180.0" step="0.1"/> -->
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<variable var="rope_heading" init="0.0f" type="float" min="0." max="10." step="0.1"/>
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</variables>
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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(), 2)"/>
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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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<call_once fun="NavSetWaypointHere(WP_ROPE)"/>
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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 key="r" 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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<call_once fun="NavResurrect()"/>
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</block>
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<block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
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<call_once fun="nav_set_heading_current()"/>
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<!-- <set value="DegOfRad(stateGetNedToBodyEulers_f()->psi)" var="rope_heading"/> -->
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<set var="rope_heading" value="stateGetNedToBodyEulers_f()->psi"/>
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<attitude pitch="-20." roll="0" throttle="0.85" until="stage_time>1" vmode="throttle"/>
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</block>
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<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<stay wp="STDBY"/>
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</block>
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<block name="Approach Rope">
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<!--set value="1" var="approaching_rope"/-->
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<set value="1" var="take_heading_control"/>
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<call_once fun="nav_set_heading_rad(rope_heading)"/>
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<stay alt="0.15+WaypointAlt(WP_ROPE)" wp="ROPE"/>
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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> |