paparazzi/conf/flight_plans/nav_modules.xml

<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
  <header>
#include "modules/datalink/datalink.h"
#include "modules/digital_cam/dc.h"
#define LINE_START_FUNCTION dc_Survey(40);
#define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
</header>
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="49.5" y="100.1"/>
    <waypoint name="1" x="10.1" y="189.9"/>
    <waypoint name="2" x="132.3" y="139.1"/>
    <waypoint name="MOB" x="137.0" y="-11.6"/>
    <waypoint name="S1_angle" x="156.2" y="222.2"/>
    <waypoint name="S1" x="-109.0" y="245.9"/>
    <waypoint name="S2" x="274.4" y="209.5"/>
    <waypoint name="S3" x="322.1" y="29.9"/>
    <waypoint name="S4" x="0.8" y="-68.1"/>
    <waypoint name="S5" x="-239.9" y="81.8"/>
    <waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
    <waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
  </waypoints>
  <sectors>
    <sector color="green" name="POLY_SURVEY">
      <corner name="S1"/>
      <corner name="S2"/>
      <corner name="S3"/>
      <corner name="S4"/>
      <corner name="S5"/>
    </sector>
  </sectors>
  <modules>
    <!-- extra navigation routines -->
    <module name="nav" type="bungee_takeoff"/>
    <module name="nav" type="line"/>
    <module name="nav" type="line_border"/>
    <module name="nav" type="line_osam"/>
    <module name="nav" type="flower"/>
    <module name="nav" type="smooth"/>
    <module name="nav" type="survey_polygon"/>
    <module name="nav" type="survey_poly_osam"/>
    <module name="nav" type="survey_zamboni"/>
    <module name="nav" type="vertical_raster"/>
    <module name="nav" type="spiral"/>
  </modules>
  <exceptions/>
  <blocks>
    <block name="Wait GPS">
      <set value="1" var="autopilot.kill_throttle"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call_once fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <set value="1" var="autopilot.kill_throttle"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
      <set value="0" var="autopilot.kill_throttle"/>
      <set value="0" var="autopilot.flight_time"/>
      <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
    </block>
    <block group="home" key="Control+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block group="base_pattern" key="F8" name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
      <eight center="1" radius="nav_radius" turn_around="2"/>
    </block>
    <block group="base_pattern" name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
      <oval p1="1" p2="2" radius="nav_radius"/>
    </block>
    <block group="base_pattern" name="MOB" strip_button="Turn around here" strip_icon="mob.png">
      <call_once fun="NavSetWaypointHere(WP_MOB)"/>
      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <circle radius="nav_radius" wp="MOB"/>
    </block>
    <block group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
      <call_once fun="nav_line_setup()"/>
      <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
    </block>
    <block group="extra_pattern" name="Survey S1-S3" strip_button="Survey (wp S1-S3)" strip_icon="survey.png">
      <survey_rectangle grid="150" wp1="S1" wp2="S3"/>
    </block>
    <block name="Bungee take-off">
      <call_once fun="nav_bungee_takeoff_setup(WP_HOME)"/>
      <call fun="nav_bungee_takeoff_run()"/>
    </block>
    <block group="nav_pattern" name="Poly Survey" strip_button="Poly Survey">
      <call_once fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,GetAltRef()+60)"/>
      <call fun="nav_survey_polygon_run()"/>
    </block>
    <block group="nav_pattern" name="Border line 1-2" strip_button="Border Line">
      <call_once fun="nav_line_border_setup()"/>
      <call fun="nav_line_border_run(WP_1, WP_2, nav_radius)"/>
    </block>
    <block group="nav_pattern" name="Smooth nav (wp 1-2)" strip_button="Smooth nav">
      <set value="gps.tow / 1000. + 60." var="snav_desired_tow"/>
      <call_once fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
      <call fun="snav_circle1()"/>
      <call fun="snav_route()"/>
      <call fun="snav_circle2()"/>
      <call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
      <go from="1" hmode="route" wp="2"/>
      <deroute block="Standby"/>
    </block>
    <block group="nav_pattern" name="Flower (wp 1-2)" strip_button="Flower">
      <call_once fun="nav_flower_setup(WP_1, WP_2)"/>
      <call fun="nav_flower_run()"/>
    </block>
    <block name="Poly survey osam">
      <call_once fun="nav_survey_poly_osam_setup(WP_S1, 5, 100, -5)"/>
      <call fun="nav_survey_poly_osam_run()"/>
    </block>
    <block name="Poly survey osam dynamic">
      <call_once fun="nav_survey_poly_osam_setup_towards(WP_S1, 0, 0, WP_S1_angle)"/>
      <call fun="nav_survey_poly_osam_run()"/>
    </block>
    <block name="ZamboniSurvey">
      <call_once fun="nav_survey_zamboni_setup(WP_1, WP_2, 200, 40, 7, 290)"/>
      <call fun="nav_survey_zamboni_run()"/>
    </block>
    <block name="Flight Line block">
      <call fun="nav_line_osam_block_run(WP_S1, WP_S5, nav_radius, 30, 10)"/>
    </block>
    <block name="Vertical Raster">
      <call_once fun="nav_vertical_raster_setup()"/>
      <call fun="nav_vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
    </block>
    <block name="Spiral">
      <call_once fun="nav_spiral_setup(WP_S1, WP_S2, 30, 10, 3)"/>
      <call fun="nav_spiral_run()"/>
    </block>
    <block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <deroute block="land"/>
    </block>
    <block group="land" name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <deroute block="land"/>
    </block>
    <block name="land">
      <call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
    </block>
    <block name="final">
      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
    </block>
    <block name="flare">
      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
    </block>
  </blocks>
</flight_plan>