mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
Christophe De Wagter
156 lines
6.7 KiB
XML
156 lines
6.7 KiB
XML
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="60" ground_alt="0" lat0="53.398848" lon0="5.258644" max_dist_from_home="5000" name="Nederdrone Valkenburg" security_height="2">
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<header>
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#include "autopilot.h"
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#include "modules/datalink/datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="-657.7" y="-25.2"/>
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<waypoint name="CLIMB" x="-476.9" y="77.1"/>
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<waypoint alt="80.0" name="STDBY" x="-688.0" y="13.9"/>
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<waypoint alt="100.0" name="p1" x="-1047.6" y="27.2"/>
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<waypoint alt="100.0" name="p2" x="-1091.2" y="272.9"/>
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<waypoint alt="100.0" name="p3" x="-718.0" y="345.1"/>
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<waypoint alt="100.0" name="p4" x="-641.6" y="127.3"/>
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<waypoint name="TD" x="-472.8" y="169.5"/>
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<waypoint name="FOLLOW" x="-593.9" y="379.7"/>
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<waypoint lat="53.409169" lon="5.243295" name="S1"/>
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<waypoint lat="53.410073" lon="5.248888" name="S2"/>
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<waypoint lat="53.403590" lon="5.214102" name="C1"/>
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<waypoint lat="53.399129" lon="5.219031" name="C2"/>
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<waypoint lat="53.391752" lon="5.234877" name="C3"/>
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<waypoint lat="53.399786" lon="5.273960" name="C4"/>
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<waypoint lat="53.416200" lon="5.265441" name="C5"/>
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<waypoint lat="53.424575" lon="5.252654" name="C6"/>
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<waypoint lat="53.422246" lon="5.233265" name="C7"/>
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<waypoint lat="53.418859" lon="5.216361" name="C8"/>
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<waypoint lat="53.411762" lon="5.208801" name="C9"/>
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</waypoints>
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<sectors>
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<sector color="red" name="Flyzone">
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<corner name="C1"/>
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<corner name="C2"/>
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<corner name="C3"/>
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<corner name="C4"/>
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<corner name="C5"/>
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<corner name="C6"/>
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<corner name="C7"/>
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<corner name="C8"/>
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<corner name="C9"/>
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</sector>
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</sectors>
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<modules>
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<module name="nav" type="survey_rectangle_rotorcraft">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="100"/>
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</module>
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</modules>
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<exceptions>
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<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
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<exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<call_once fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid() || !state.ned_initialized_i"/>
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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_once fun="NavSetAltitudeReferenceHere()"/>
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</block>
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<block name="Holding point">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Start Engine">
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<set value="FALSE" var="force_forward"/>
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<call_once fun="NavResurrect()"/>
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<call_once fun="nav_set_heading_current()"/>
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<attitude pitch="-45" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
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</block>
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<block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
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<call_once fun="nav_set_heading_current()"/>
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<call_once fun="autopilot_set_in_flight(true)"/>
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<attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="GetPosHeight() @GT 40.0" deroute="Standby"/>
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<call_once fun="nav_set_heading_current()"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav.climb_vspeed" vmode="climb" 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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<set value="FALSE" var="force_forward"/>
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<stay wp="STDBY"/>
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</block>
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<block name="stay_p1">
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<set value="FALSE" var="force_forward"/>
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<stay wp="p1"/>
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</block>
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<block name="go_p2">
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<set value="TRUE" var="force_forward"/>
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<go wp="p2"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="line_p1_p2">
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<set value="TRUE" var="force_forward"/>
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<go from="p1" hmode="route" wp="p2"/>
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<stay until="stage_time>10" wp="p2"/>
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<go from="p2" hmode="route" wp="p1"/>
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<deroute block="line_p1_p2"/>
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</block>
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<block name="route">
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<set value="TRUE" var="force_forward"/>
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<go from="p1" hmode="route" wp="p2"/>
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<go from="p2" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="route"/>
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</block>
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<block group="extra_pattern" name="Survey S1-S2 25m NS" strip_button="Svy25-NS-PRIMITIVE">
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<set value="FALSE" var="force_forward"/>
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<survey_rectangle grid="30" orientation="NS" wp1="S1" wp2="S2"/>
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</block>
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<block group="extra_pattern" name="Survey S1-S2 NS" strip_button="Svy-NS" strip_icon="survey.png">
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<set value="TRUE" var="force_forward"/>
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<call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
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<deroute block="Survey RECTANGLE RUN"/>
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</block>
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<block group="extra_pattern" name="Survey S1-S2 LO" strip_button="Svy-LO" strip_icon="survey_we.png">
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<set value="TRUE" var="force_forward"/>
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<call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, WE)"/>
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<deroute block="Survey RECTANGLE RUN"/>
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</block>
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<block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
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<set value="TRUE" var="force_forward"/>
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<exception cond="rectangle_survey_sweep_num @GT 1" deroute="Standby"/>
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<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
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</block>
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<block name="Oval">
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<set value="TRUE" var="force_forward"/>
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<oval p1="p1" p2="p2" radius="nav.radius"/>
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</block>
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<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
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<set value="FALSE" var="force_forward"/>
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="land">
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<set value="FALSE" var="force_forward"/>
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<go wp="TD"/>
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</block>
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<block name="descend">
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<set value="FALSE" var="force_forward"/>
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<exception cond="LessThan(GetPosHeight(), 15.0)" deroute="flare"/>
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<stay climb="nav.descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="flare">
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<set value="FALSE" var="force_forward"/>
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<stay climb="-0.5" vmode="climb" wp="TD"/>
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</block>
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<block name="landed">
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<attitude pitch="0" roll="0" throttle="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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