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https://github.com/paparazzi/paparazzi.git
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Fabien-B
e9656391a2
* [sectors] Remove static sectors. * [sectors] Update conf. * [sectors] Keep "type" in DTD and issue error. * [generator] move inside sector functions out of NAV_C section Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
73 lines
2.5 KiB
XML
73 lines
2.5 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="148" ground_alt="146" lat0="43.5640917" lon0="1.4829201" max_dist_from_home="20" name="Rover Optitrack (ENAC)" security_height="0.3">
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<header>
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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="GOAL" x="2.0" y="2.0"/>
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<waypoint name="STDBY" x="-0.7" y="-0.8"/>
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<waypoint name="TD" x="0.8" y="-1.7"/>
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<waypoint name="P1" x="-1" y="-4"/>
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<waypoint name="P2" x="-1" y="4"/>
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<waypoint name="_S1" x="3" y="4"/>
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<waypoint name="_S2" x="3" y="-4"/>
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<waypoint name="_S3" x="-3" y="-4"/>
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<waypoint name="_S4" x="-3" y="4"/>
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<waypoint name="_N1" x="4.5" y="5.2"/>
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<waypoint name="_N2" x="4.5" y="-5.2"/>
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<waypoint name="_N3" x="-4.5" y="-5.2"/>
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<waypoint name="_N4" x="-4.5" y="5.2"/>
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</waypoints>
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<sectors>
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<sector name="Net" color="red">
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<corner name="_N1"/>
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<corner name="_N2"/>
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<corner name="_N3"/>
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<corner name="_N4"/>
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</sector>
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<sector name="Survey" color="green">
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<corner name="_S1"/>
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<corner name="_S2"/>
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<corner name="_S3"/>
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<corner name="_S4"/>
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</sector>
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</sectors>
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<variables>
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<variable var="turn_rate" init="10." min="0." max="50." step="1.0"/>
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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="Holding point">
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<call_once fun="NavKillThrottle()"/>
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<attitude roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<stay wp="STDBY"/>
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</block>
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<block name="line_P1_P2">
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<go wp="P1" approaching_time="0"/>
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<while cond="TRUE">
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<go from="P1" hmode="route" wp="P2" approaching_time="0"/>
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<stay wp="P2" until="stage_time>10"/>
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<go from="P2" hmode="route" wp="P1" approaching_time="0"/>
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</while>
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</block>
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<block name="circle">
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<circle radius="nav.radius" wp="STDBY"/>
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</block>
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<block name="line_P1_P2_turn">
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<go wp="P1" approaching_time="0"/>
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<while cond="TRUE">
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<go from="P1" hmode="route" wp="P2" approaching_time="0" pre_call="nav_set_heading_deg(turn_rate*block_time)"/>
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<stay wp="P2" until="stage_time>10" pre_call="nav_set_heading_deg(turn_rate*block_time)"/>
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<go from="P2" hmode="route" wp="P1" approaching_time="0" pre_call="nav_set_heading_deg(turn_rate*block_time)"/>
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</while>
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</block>
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</blocks>
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</flight_plan>
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