mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
Pascal Brisset
49 lines
1.5 KiB
XML
49 lines
1.5 KiB
XML
<flight_plan name="booz test 1" lon0="-118.860691" lat0="34.233845" ground_alt="328" alt="330" max_dist_from_home="100" security_height="1">
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<waypoints>
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<waypoint name="HOME" x="0.0" y="0.0"/>
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<waypoint name="TARGET" x="10" y="0"/>
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</waypoints>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="kill_throttle"/>
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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 fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="kill_throttle"/>
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<stay wp="HOME"/>
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</block>
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<block name="vertical steps" strip_button="Vert. Steps">
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<while cond="TRUE">
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<set var="tl_control_agl_sp" value="-3"/>
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<while cond="15 > stage_time"/>
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<set var="tl_control_agl_sp" value="-5"/>
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<while cond="15 > stage_time"/>
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</while>
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</block>
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<block name="vertical RC" strip_button="Vert. RC">
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<while cond="TRUE">
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<set var="tl_control_agl_sp" value=" -5. * rc_values[RADIO_THROTTLE]/MAX_PPRZ"/>
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</while>
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</block>
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<block name="on ground">
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<exception cond="estimator_in_flight" deroute="flying"/>
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<!-- <set value="1" var="kill_throttle"/> -->
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<stay wp="TARGET"/>
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</block>
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<block name="flying">
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<!-- <exception cond="!estimator_in_flight" deroute="on ground"/> -->
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<call fun="NavSetWaypointHere(WP_TARGET)"/>
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<set value="0" var="kill_throttle"/>
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<stay wp="TARGET"/>
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</block>
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</blocks>
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</flight_plan>
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