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
52 lines
2.1 KiB
XML
52 lines
2.1 KiB
XML
<flight_plan ALT="130" GROUND_ALT="68" LAT0="52.26483" LON0="9.99394" MAX_DIST_FROM_HOME="1500" NAME="Gross Lobke, verschiedene Kreise" QFU="270" SECURITY_HEIGHT="60">
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<rc_control>
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</rc_control>
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<waypoints utm_x0="567831.0" utm_y0="5790955.0">
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<waypoint alt="130." lat="52.2649866942" lon="9.99401677286" name="HOME" x="15.0" y="5.0"/>
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<waypoint alt="130." name="1" x="-181.785735614" y="34.9692539535"/>
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<waypoint alt="130." name="2" x="130.143368186" y="90.3661855655"/>
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<waypoint alt="130." name="START" x="140.0885126006" y="35.7359798392"/>
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<waypoint alt="130." name="CR" x="0.0885126006" y="73.7359798392"/>
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<waypoint name="S1" x="-200" y="-200"/>
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<waypoint name="S2" x="300" y="400"/>
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</waypoints>
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<blocks>
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<block NAME="start">
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<attitude roll="0" pitch="0.1" vmode="throttle" throttle="0.7" until="(autopilot.flight_time > 5)"/>
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<go wp="START"/>
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</block>
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<block NAME="east">
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<go target="2" APPROACHING_TIME="2" HMODE="route" WP="2" from="1"/>
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<deroute block="west"/>
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</block>
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<block NAME="west">
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<go target="1" APPROACHING_TIME="2" HMODE="route" WP="1" from="2"/>
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<deroute block="east"/>
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</block>
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<block NAME="east t">
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<go target="2" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="2" from="1"/>
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<deroute block="west t"/>
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</block>
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<block NAME="west t">
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<go target="1" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="1" from="2"/>
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<deroute block="east t"/>
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</block>
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<block NAME="clock">
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<circle wp="CR" radius="90"/>
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</block>
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<block NAME="counter">
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<circle wp="CR" radius="-90"/>
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</block>
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<block name="survey">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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</block>
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<block NAME="roll" strip_button="Roll">
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<set value="TRUE" var="h_ctl_disabled"/>
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<set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
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<while cond="3.> stage_time && (stateGetNedToBodyEulers_f()->phi > 0 || -M_PI_2 > stateGetNedToBodyEulers_f()->phi)"/>
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<set value="FALSE" var="h_ctl_disabled"/>
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<return/>
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</block>
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</blocks>
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</flight_plan>
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