Files
paparazzi/conf/flight_plans/failsafe_modes.xml
T
Pascal Brisset cea3795317 gaz -> throttle
2006-08-23 13:28:20 +00:00

27 lines
643 B
XML

<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
<procedure>
<param name="kill_pitch"/>
<waypoints>
<waypoint NAME="BACK" X="0" Y="0"/>
</waypoints>
<exceptions>
<exception cond="And(block_time>20, dist2_to_home > 500.*500.)" deroute="home"/>
<exception cond="And(block_time>20, dist2_to_home > 600.*600.)" deroute="kill"/>
<exception cond="And(launch, gps_lost)" deroute="kill"/>
</exceptions>
<blocks>
<block name="home">
<circle wp="BACK" radius="50"/>
</block>
<block name="kill">
<go wp="BACK" vmode="throttle" throttle="0" pitch="kill_pitch"/>
</block>
</blocks>
</procedure>