mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Michal Podhradsky
49e058010e
* FlighGear and Ivy thread working * Main loop replaced with main_thread * Cleaned up nps_main * HITL main - test TX with Vectornav * Added AggieAir control panel * [modules] Flight logger module added * [fixedwing] Airframe configuration updated * [hitl] Proof Of Concept - IO and simulation running * [nps] Minor changes in main hitl * [nps] Performance Test with Pthread library * [hitl] Working with pthreads instead of glib threads * [hitl] Minor updates * [nps] Refactoring to get rid of Gthreads * [nps] Minor changes, added mutex guards * [nps] Minor Ivy fix * [nps] Threads working properly [hitl] Ins separated * [hitl] Check for launch variable * [nps] Refactoring makefile into common and hitl/sitl specific * [hitl] Hitl works, sitl too * [hitl] ins_vectornav comments * [hitl] Updated launch routine * [nps_hitl Cleaned up version of NPS/HITL - added support for ACTUATORS message (Rotorcraft) - resolved start issue for Fixedwing (works fine now) - minor improvements in threads (fg_thread, ap_init) * [nps] Minor fixes to save current work * [nps] Minor fixes * Update to latest pprzlink * FlighGear and Ivy thread working * Main loop replaced with main_thread * Cleaned up nps_main * HITL main - test TX with Vectornav * Added AggieAir control panel * [modules] Flight logger module added * [fixedwing] Airframe configuration updated * [hitl] Proof Of Concept - IO and simulation running * [nps] Minor changes in main hitl * [nps] Performance Test with Pthread library * [hitl] Working with pthreads instead of glib threads * [hitl] Minor updates * [nps] Refactoring to get rid of Gthreads * [nps] Minor changes, added mutex guards * [nps] Minor Ivy fix * [nps] Threads working properly [hitl] Ins separated * [hitl] Check for launch variable * [nps] Refactoring makefile into common and hitl/sitl specific * [hitl] Hitl works, sitl too * [hitl] ins_vectornav comments * [hitl] Updated launch routine * [nps_hitl Cleaned up version of NPS/HITL - added support for ACTUATORS message (Rotorcraft) - resolved start issue for Fixedwing (works fine now) - minor improvements in threads (fg_thread, ap_init) * [nps] Minor fixes to save current work * [nps] Minor fixes * Update to latest pprzlink * Fixed the feed function * Compilation fixes * More compilation fixes * Last compilation fixes * Added a simple automated flight plan (auto take off and landing) * Fixes in NPS * Removed SBUS fakerator * Removed superfluous "else" * Renamed "flight recorder" to "xgear" * Fixed formatting * Updated extra_dl module * Initial support for extra_dl to run over USB serial * Fixed usb_serial for extra_dl * extra_dl_periodic() called at TELEMETRY_FREQUENCY
93 lines
4.5 KiB
XML
93 lines
4.5 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
|
|
<!-- A simple flightplan for automated SITL/HITL verification: it launches and lands itself, giving us an idea whether a given airframe
|
|
can finish it -->
|
|
<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
|
|
<header>
|
|
#include "subsystems/datalink/datalink.h"
|
|
</header>
|
|
<waypoints>
|
|
<waypoint name="HOME" x="0" y="0"/>
|
|
<waypoint name="STDBY" x="49.5" y="100.1"/>
|
|
<waypoint name="1" x="10.1" y="189.9"/>
|
|
<waypoint name="2" x="132.3" y="139.1"/>
|
|
<waypoint name="MOB" x="137.0" y="-11.6"/>
|
|
<waypoint name="S1" x="-119.2" y="69.6"/>
|
|
<waypoint name="S2" x="274.4" y="209.5"/>
|
|
<waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
|
|
<waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
|
|
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
|
|
<waypoint name="CLIMB" x="-114.5" y="162.3"/>
|
|
</waypoints>
|
|
<exceptions>
|
|
<!--exception cond="datalink_time > 22" deroute="Standby"/-->
|
|
</exceptions>
|
|
<blocks>
|
|
<block name="Wait GPS">
|
|
<set value="1" var="kill_throttle"/>
|
|
<while cond="!GpsFixValid()"/>
|
|
</block>
|
|
<block name="Geo init">
|
|
<while cond="LessThan(NavBlockTime(), 10)"/>
|
|
<call fun="NavSetGroundReferenceHere()"/>
|
|
</block>
|
|
<block name="Holding point">
|
|
<set value="1" var="kill_throttle"/>
|
|
<attitude roll="0" throttle="0" vmode="throttle"/>
|
|
<exception cond="NavBlockTime() > 10" deroute="Takeoff"/>
|
|
</block>
|
|
<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
|
|
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
|
|
<set value="0" var="kill_throttle"/>
|
|
<set value="0" var="autopilot_flight_time"/>
|
|
<set value="1" var="launch"/>
|
|
<set value="0" var="kill_throttle"/>
|
|
<while cond="LessThan(NavBlockTime(), 3)"/>
|
|
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
|
|
</block>
|
|
<block key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png" group="home">
|
|
<circle radius="nav_radius" wp="STDBY"/>
|
|
<exception cond="NavBlockTime() > 30" deroute="Figure 8 around wp 1"/>
|
|
</block>
|
|
<block key="F8" name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">
|
|
<eight center="1" radius="nav_radius" turn_around="2"/>
|
|
<exception cond="NavBlockTime() > 120" deroute="Oval 1-2"/>
|
|
</block>
|
|
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png" group="base_pattern">
|
|
<oval p1="1" p2="2" radius="nav_radius"/>
|
|
<exception cond="NavBlockTime() > 90" deroute="Survey S1-S2"/>
|
|
</block>
|
|
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" group="extra_pattern">
|
|
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
|
|
<exception cond="NavBlockTime() > 180" deroute="Path 1,2,S1,S2,STDBY"/>
|
|
</block>
|
|
<block name="Path 1,2,S1,S2,STDBY" strip_button="Path (1,2,S1,S2,STDBY)" strip_icon="path.png" group="extra_pattern">
|
|
<path wpts="1,2 S1"/>
|
|
<path wpts="S1, S2 STDBY" approaching_time="1" pitch="auto" throttle="0.4"/>
|
|
<deroute block="MOB"/>
|
|
</block>
|
|
<block name="MOB" strip_button="Circle around here" strip_icon="mob.png" group="base_pattern">
|
|
<call fun="NavSetWaypointHere(WP_MOB)"/>
|
|
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
|
|
<circle radius="nav_radius" wp="MOB"/>
|
|
<exception cond="NavBlockTime() > 90" deroute="Land Right AF-TD"/>
|
|
</block>
|
|
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png" group="land">
|
|
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
|
|
<deroute block="land"/>
|
|
</block>
|
|
<block name="land">
|
|
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
|
|
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
|
|
<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"/>
|
|
</block>
|
|
<block name="final">
|
|
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
|
|
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
|
|
</block>
|
|
<block name="flare">
|
|
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
|
|
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
|
|
</block>
|
|
</blocks>
|
|
</flight_plan>
|