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