mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-17 23:54:34 +08:00
Pascal Brisset
85 lines
3.4 KiB
XML
85 lines
3.4 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
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<header>
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#include "nav_line.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="20" y="80"/>
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<waypoint name="1" x="44.8" y="102.2"/>
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<waypoint name="2" x="-63.5" y="122.9"/>
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<waypoint name="MOB" x="-11.5" y="-21.2"/>
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<waypoint name="S1" x="-151.6" y="80.4"/>
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<waypoint name="S2" x="180.1" y="214.9"/>
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<waypoint alt="30" name="AF" x="200" y="-10"/>
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<waypoint name="TOD" x="8.0" y="-22.7"/>
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<waypoint alt="0" name="TD" x="80.0" y="20.0"/>
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<waypoint name="BASELEG" x="26.9" y="-23.0"/>
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<waypoint name="CLIMB" x="-122.5" y="35.4"/>
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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="Kill">
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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 name="Takeoff" strip_button="Takeoff">
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<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
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<set value="0" var="kill_throttle"/>
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<set value="0" var="estimator_flight_time"/>
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<go wp="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="Figure 8 around wp 1" strip_button="8">
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<eight center="1" radius="nav_radius" turn_around="2"/>
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</block>
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<block name="Oval 1-2" strip_button="0">
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<oval p1="1" p2="2" radius="nav_radius"/>
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</block>
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<block name="MOB" strip_button="MOB">
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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 name="Line 1-2">
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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 name="Survey S1-S2">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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</block>
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<block name="Land Right AF-TD" strip_button="LandR">
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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="LandL">
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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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<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - 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 > estimator_z" 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="TOD" 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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