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
72 lines
3.2 KiB
XML
72 lines
3.2 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="420" ground_alt="360" lat0="50.230060" lon0="10.990449" max_dist_from_home="1500" name="Flugplatz Steinruecken" security_height="25" QFU="210">
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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="103.9" y="-96.3"/>
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<waypoint name="PROFILE" x="123.9" y="-116.7"/>
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<waypoint name="1" x="8.9" y="-149.8"/>
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<waypoint name="2" x="241.5" y="-62.1"/>
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<waypoint name="MOB" x="137.0" y="-11.6"/>
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<waypoint name="S1" x="-100.8" y="-293.0"/>
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<waypoint name="S2" x="307.3" y="-65.4"/>
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<waypoint name="CLIMB" x="-102.3" y="-129.0"/>
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</waypoints>
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<exceptions>
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<exception cond="GetPosAlt() > 3400" deroute="Standby"/>
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<exception cond="datalink_time > 30" deroute="Standby"/>
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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="autopilot.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_once fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="autopilot.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 (wp CLIMB)" strip_icon="takeoff.png">
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<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
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<set value="0" var="autopilot.kill_throttle"/>
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<set value="0" var="autopilot.flight_time"/>
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<go from="HOME" throttle="1.0" vmode="throttle" 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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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="profile_up" strip_button="Profile Up" strip_icon="up_profile.png">
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<circle radius="nav_radius" wp="PROFILE"/>
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</block>
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<block name="profile_down" strip_button="Profile Down" strip_icon="down_profile.png">
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<circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(GetAltRef()+150 > GetPosAlt())" vmode="throttle" wp="PROFILE"/>
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<deroute block="Standby"/>
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</block>
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<block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
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<call_once 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" strip_button="Line (wp 1-2)" strip_icon="line.png">
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<exception cond="datalink_time > 22" deroute="Standby"/>
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<call_once fun="nav_line_setup()"/>
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<call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
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</block>
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<block 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 name="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS" 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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<block name="Survey S1-S2 WE" strip_button="Survey (wp S1-S2) WE" strip_icon="survey_we.png">
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<survey_rectangle grid="150" orientation="WE" wp1="S1" wp2="S2"/>
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</block>
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</blocks>
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</flight_plan>
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