mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Felix Ruess
82 lines
3.7 KiB
XML
82 lines
3.7 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="310" ground_alt="185" lat0="59.81" lon0="10.3578" max_dist_from_home="550" name="Test zamboni" security_height="60" qfu="110">
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<header>
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#include "subsystems/datalink/datalink.h"
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#include "modules/digital_cam/dc.h"
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//#define LINE_START_FUNCTION dc_autoshoot = DC_AUTOSHOOT_DISTANCE;
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//#define LINE_START_FUNCTION dc_Survey(dc_gps_dist);
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#define LINE_START_FUNCTION dc_Survey(40);
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#define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
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</header>
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<waypoints>
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<waypoint name="HOME" x="-20" y="-40"/>
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<waypoint name="STDBY" x="-40" y="-60"/>
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<waypoint name="Z_CENTER" x="170" y="-90"/>
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<waypoint name="Z1_DIR" x="270" y="-120"/>
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<waypoint name="Z2_DIR" x="270" y="-120"/>
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<waypoint name="CLIMB" x="0" y="-70"/>
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<waypoint alt="240" name="AF" x="-180" y="160"/>
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<waypoint alt="170.0" name="TD" x="-20" y="10"/>
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<waypoint name="_BASELEG" x="1" y="1"/>
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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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<attitude roll="0" throttle="0" vmode="throttle"/>
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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="kill_throttle"/>
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<set value="0" var="autopilot_flight_time"/>
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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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<!-- nav_survey_zamboni_setup (uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude) -->
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<block name="ZamboniSurvey1" strip_button="Zamboni1" strip_icon="survey.png">
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<call fun="nav_survey_zamboni_setup(WP_Z_CENTER, WP_Z1_DIR, 200, 40, 7, 290)"/>
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<call fun="nav_survey_zamboni_run()"/>
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</block>
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<block name="ZamboniSurvey2" strip_button="Zamboni2" strip_icon="survey.png">
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<call fun="nav_survey_zamboni_setup(WP_Z_CENTER, WP_Z2_DIR, 200, -40, 7, 290)"/>
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<call fun="nav_survey_zamboni_run()"/>
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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 Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.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 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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<block group="home" key="Ctrl+a" 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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</blocks>
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</flight_plan>
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