mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Hector Garcia de Marina
2144be74be
* [GVF] more functions exposed to the user * [GVF] gvf_line_xy1_xy2 added * [GVF] segment msg added for the GCS * poly survey with GVF * [GVF] segment primitive added * integrating gvf and poly survey * [GVF] each trajectory has its own gains now * updated settings (gains) for the GVF trajectories * [GVF] nav_survey_polygon integrated with GVF * [GVF] python scripts updated for the new GVF msg format * pprz c code style * [GVF] updated demo * gvf demo includes poly survey * [GVF] gvf poly survey moved to gvf module * [GVF] nav module not necessary anymore for gvf demo * [GVF] _gvf added for being different from others nav functions from other modules * [GVF] description about employing gvf here has been removed * gvf_ for not conflict with former nav module * These definitions now have to be done in the airframe conf * [GVF] kn is not used anymore by the gvf visualization * [GVF] better description msg for the formation script * [GVF] Doxygen doc * print for python 3 * correct style * we set up correctly the vertical control * Doxygen * Only for auto2. If we are in auto1, do not override the roll set point * Circular formation now also works for counter-clockwise direction * update pprzlink * Gautier comments * [GVF] more functions exposed to the user * [GVF] gvf_line_xy1_xy2 added * [GVF] segment msg added for the GCS * poly survey with GVF * [GVF] segment primitive added * integrating gvf and poly survey * [GVF] each trajectory has its own gains now * updated settings (gains) for the GVF trajectories * [GVF] nav_survey_polygon integrated with GVF * [GVF] python scripts updated for the new GVF msg format * pprz c code style * [GVF] updated demo * gvf demo includes poly survey * [GVF] gvf poly survey moved to gvf module * [GVF] nav module not necessary anymore for gvf demo * [GVF] _gvf added for being different from others nav functions from other modules * [GVF] description about employing gvf here has been removed * gvf_ for not conflict with former nav module * These definitions now have to be done in the airframe conf * [GVF] kn is not used anymore by the gvf visualization * [GVF] better description msg for the formation script * [GVF] Doxygen doc * print for python 3 * correct style * we set up correctly the vertical control * Doxygen * Only for auto2. If we are in auto1, do not override the roll set point * Circular formation now also works for counter-clockwise direction * update pprzlink * Gautier comments * PPRZ_MODE_AUTO2 is now AP_MODE_AUTO2 * new functions for the GVF demo * Primitives for tracking lines, segments and segment_loops * Poly survey track the proper segment function
104 lines
4.3 KiB
XML
104 lines
4.3 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Fixed wing basic (Muret)" security_height="25">
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<header>
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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 alt="235" name="STDBY" x="49.5" y="100.1"/>
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<waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
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<waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
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<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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<waypoint alt="235.0" name="ELLIPSE" x="0.5" y="109.0"/>
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<waypoint alt="235.0" name="S1" x="-14.8" y="157.8"/>
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<waypoint alt="235.0" name="S2" x="175.7" y="85.2"/>
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<waypoint alt="235.0" name="S3" x="140.0" y="-2.3"/>
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<waypoint alt="235.0" name="S4" x="-49.6" y="66.3"/>
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</waypoints>
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<sectors>
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<sector color="orange" name="Survey">
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<corner name="S1"/>
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<corner name="S2"/>
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<corner name="S3"/>
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<corner name="S4"/>
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</sector>
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</sectors>
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<variables>
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<variable var="angle_ps" init="0" min="-180" max="179" step="1"/>
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</variables>
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<modules>
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<module name="gvf_module"/>
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</modules>
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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 group="home" key="t" 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" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
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<call_once fun="NavVerticalAutoThrottleMode(0.0)"/>
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<call_once fun="NavVerticalAltitudeMode(flight_altitude, 0.0)"/>
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<call fun="gvf_ellipse_wp(WP_STDBY, nav_radius, nav_radius, 0)"/>
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</block>
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<block name="ellipse">
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<call fun="gvf_ellipse_wp(WP_ELLIPSE, gvf_ellipse_par.a, gvf_ellipse_par.b, gvf_ellipse_par.alpha)"/>
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</block>
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<block name="segment_loop">
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<call fun="gvf_segment_loop_wp1_wp2(WP_ELLIPSE, WP_STDBY, gvf_segment_par.d1, gvf_segment_par.d2)"/>
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</block>
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<block name="segment">
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<call fun="gvf_segment_wp1_wp2(WP_ELLIPSE, WP_STDBY)"/>
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</block>
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<block name="line">
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<call fun="gvf_line_wp_heading(WP_ELLIPSE, gvf_line_par.heading)"/>
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</block>
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<block name="Sinusoidal">
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<call fun="gvf_sin_wp_alpha(WP_ELLIPSE, gvf_sin_par.alpha, gvf_sin_par.w, gvf_sin_par.off, gvf_sin_par.A)"/>
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</block>
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<block name="Poly Survey">
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<call_once fun="gvf_nav_survey_polygon_setup(WP_S1, 4, angle_ps, 30, 30, 40, flight_altitude)"/>
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<call fun="gvf_nav_survey_polygon_run()"/>
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</block>
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<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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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 group="land" name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
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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_once 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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<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"/>
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</block>
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<block name="final">
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<exception cond="GetAltRef() + 10 > GetPosAlt()" 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="AF" 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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