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
37 lines
1.3 KiB
XML
37 lines
1.3 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Demo module" security_height="25">
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<header>
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#include "generated/modules.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="0" y="100"/>
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</waypoints>
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<exceptions/>
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<blocks>
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<block name="Kill">
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<set value="1" var="autopilot.kill_throttle"/>
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<deroute block="Standby"/>
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</block>
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<block name="Periodic 1Hz">
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<set value="MODULES_STOP" var="demo_module_periodic_10Hz_demo_status"/>
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<set value="MODULES_START" var="demo_module_periodic_1Hz_demo_status"/>
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<deroute block="Standby"/>
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</block>
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<block name="Periodic 10Hz">
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<set value="MODULES_STOP" var="demo_module_periodic_1Hz_demo_status"/>
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<set value="MODULES_START" var="demo_module_periodic_10Hz_demo_status"/>
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<deroute block="Standby"/>
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</block>
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<block name="Stop all">
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<set value="MODULES_STOP" var="demo_module_periodic_10Hz_demo_status"/>
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<set value="MODULES_STOP" var="demo_module_periodic_1Hz_demo_status"/>
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<deroute block="Standby"/>
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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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</blocks>
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</flight_plan>
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