mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
93 lines
4.6 KiB
XML
93 lines
4.6 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<!-- A simple flightplan for automated SITL/HITL verification: it launches and lands itself, giving us an idea whether a given airframe
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can finish it -->
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<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
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<header>
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#include "subsystems/datalink/datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="STDBY" x="49.5" y="100.1"/>
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<waypoint name="1" x="10.1" y="189.9"/>
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<waypoint name="2" x="132.3" y="139.1"/>
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<waypoint name="MOB" x="137.0" y="-11.6"/>
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<waypoint name="S1" x="-119.2" y="69.6"/>
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<waypoint name="S2" x="274.4" y="209.5"/>
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<waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
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<waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
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<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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</waypoints>
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<exceptions>
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<!--exception cond="datalink_time > 22" deroute="Standby"/-->
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="autopilot.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_once fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="autopilot.kill_throttle"/>
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<attitude roll="0" throttle="0" vmode="throttle"/>
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<exception cond="NavBlockTime() > 10" deroute="Takeoff"/>
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</block>
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<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
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<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
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<set value="0" var="autopilot.kill_throttle"/>
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<set value="0" var="autopilot.flight_time"/>
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<set value="1" var="launch"/>
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<set value="0" var="autopilot.kill_throttle"/>
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<while cond="LessThan(NavBlockTime(), 3)"/>
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<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
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</block>
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<block key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png" group="home">
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<circle radius="nav_radius" wp="STDBY"/>
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<exception cond="NavBlockTime() > 30" deroute="Figure 8 around wp 1"/>
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</block>
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<block key="F8" name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">
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<eight center="1" radius="nav_radius" turn_around="2"/>
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<exception cond="NavBlockTime() > 120" deroute="Oval 1-2"/>
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</block>
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<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png" group="base_pattern">
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<oval p1="1" p2="2" radius="nav_radius"/>
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<exception cond="NavBlockTime() > 90" deroute="Survey S1-S2"/>
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</block>
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<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" group="extra_pattern">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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<exception cond="NavBlockTime() > 180" deroute="Path 1,2,S1,S2,STDBY"/>
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</block>
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<block name="Path 1,2,S1,S2,STDBY" strip_button="Path (1,2,S1,S2,STDBY)" strip_icon="path.png" group="extra_pattern">
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<path wpts="1,2 S1"/>
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<path wpts="S1, S2 STDBY" approaching_time="1" pitch="auto" throttle="0.4"/>
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<deroute block="MOB"/>
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</block>
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<block name="MOB" strip_button="Circle around here" strip_icon="mob.png" group="base_pattern">
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<call_once fun="NavSetWaypointHere(WP_MOB)"/>
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<circle radius="nav_radius" wp="MOB"/>
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<exception cond="NavBlockTime() > 90" deroute="Land Right AF-TD"/>
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</block>
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<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png" group="land">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="land">
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<call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
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<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
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</block>
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<block name="final">
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<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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