mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +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
103 lines
4.6 KiB
XML
103 lines
4.6 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="1450" ground_alt="1350" lat0="41.820661" lon0="-111.987935" max_dist_from_home="1500" name="Basic" security_height="25">
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<header>
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#include "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="61.1" y="-227.6"/>
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<waypoint name="2" x="51.7" y="243.8"/>
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<waypoint name="MOB" x="137.0" y="-11.6"/>
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<waypoint name="S1" x="-131.2" y="-154.4"/>
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<waypoint name="S2" x="304.7" y="242.1"/>
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<waypoint name="S3" x="-800" y="-800"/>
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<waypoint name="S4" x="800" y="800"/>
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<waypoint name="S5" x="800" y="-800"/>
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<waypoint name="AF" x="177.4" y="45.1" alt="1380"/>
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<waypoint name="TD" x="28.8" y="57.0" alt="1350"/>
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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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<blocks>
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<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
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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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<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
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<eight center="1" radius="nav_radius" turn_around="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">
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<oval p1="1" p2="2" radius="nav_radius"/>
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</block>
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<block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
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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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</block>
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<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
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<exception cond="datalink_time > 22" deroute="Standby"/>
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<call_once fun="nav_line_setup()"/>
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<call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
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</block>
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<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
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<survey_rectangle grid="35" wp1="S1" wp2="S2"/>
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</block>
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<block name="Line S4-5" strip_button="Line (S 4-5)">
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<exception cond="datalink_time > 22" deroute="Standby"/>
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<call_once fun="nav_line_setup()"/>
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<call fun="nav_line_run(WP_S4, WP_S5, nav_radius)"/>
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</block>
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<block name="Steps roll -10, +10">
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<while cond="TRUE">
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<attitude alt="1410" roll="10.0" until=" stage_time > 6" vmode="alt"/>
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<attitude alt="1410" roll="-10.0" until="stage_time > 6" vmode="alt"/>
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</while>
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</block>
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<block name="Steps roll -20, +20">
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<while cond="TRUE">
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<attitude alt="1410" roll="20.0" until=" stage_time > 3" vmode="alt"/>
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<attitude alt="1410" roll="-20.0" until="stage_time > 3" vmode="alt"/>
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</while>
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</block>
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<block name="Steps pitch -10, +10">
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<while cond="TRUE">
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<attitude alt="1410" pitch="40" roll="0.0" vmode="alt"/>
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<set value="1" var="autopilot.kill_throttle"/>
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</while>
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<set value="0" var="autopilot.kill_throttle"/>
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</block>
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<block name="Survey S3-S4" strip_button="Survey (wp S3-S4)">
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<survey_rectangle grid="150" wp1="S3" wp2="S4"/>
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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">
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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 Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
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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="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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