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https://github.com/paparazzi/paparazzi.git
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Loic Drumettaz
144 lines
6.2 KiB
XML
144 lines
6.2 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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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="-109.0" y="245.9"/>
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<waypoint name="S2" x="274.4" y="209.5"/>
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<waypoint name="S3" x="322.1" y="29.9"/>
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<waypoint name="S4" x="0.8" y="-68.1"/>
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<waypoint name="S5" x="-239.9" y="81.8"/>
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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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<sectors>
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<sector name="POLY_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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<corner name="S5"/>
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</sector>
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</sectors>
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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="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 group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
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<exception cond="GetPosAlt() > ground_alt+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" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block group="home" key="<Control>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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<block group="base_pattern" key="F8" 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 group="base_pattern" 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 group="base_pattern" name="MOB" strip_button="Turn around here" strip_icon="mob.png">
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<call 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 group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
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<call fun="nav_line_init()"/>
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<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
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</block>
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<block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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</block>
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<!--===================== Nav modules example blocks =================================-->
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<block name="Poly Survey S1-S2" strip_button="Poly Survey">
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<call fun="poly_survey_adv_start(WP_S1,5,180,30,10,50,100)"/>
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<call fun="poly_survey_adv_run()"/>
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</block>
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<block name="Border line 1-2" strip_button="Border Line (wp 1-2)">
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<call fun="border_line_init()"/>
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<call fun="border_line(WP_1, WP_2, nav_radius)"/>
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</block>
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<block name="Smooth nav" strip_button="Smooth nav (wp 1-2)">
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<set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
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<call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
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<call fun="snav_circle1()"/>
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<call fun="snav_route()"/>
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<call fun="snav_circle2()"/>
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<call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
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<go from="1" hmode="route" wp="2"/>
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<deroute block="Standby"/>
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</block>
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<!-- ===================== OSAM Nav modules example blocks =========================-->
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<block name="Flower" strip_button="Flower (wp 1-2)">
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<call fun="flower_start(WP_1, WP_2)"/>
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<call fun="flower_run()"/>
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</block>
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<block name="Bungee take-off">
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<call fun="bungee_takeoff_start(WP_HOME)"/>
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<call fun="bungee_takeoff_run()"/>
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</block>
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<block name="Skid Landing">
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<call fun="skid_landing_start(WP_AF,WP_TD,nav_radius)"/>
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<call fun="skid_landing_run()"/>
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</block>
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<block name="Poly survey">
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<call fun="osam_poly_survey_start(WP_S1, 5, 50, 45)"/>
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<call fun="osam_poly_survey_run()"/>
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</block>
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<block name="Flight Line block">
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<call fun="osam_flight_line_block_run(WP_S1, WP_S5, nav_radius, 30, 10)"/>
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</block>
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<block name="Vertical Raster">
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<call fun="vertical_raster_start()"/>
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<call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
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</block>
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<!--====================================================================================-->
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<block group="land" 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 group="land" 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 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="ground_alt + 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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