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
31 lines
846 B
XML
31 lines
846 B
XML
<flight_plan name="8 - ricou"
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lat0="43.237535" lon0="1.327747"
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ref_pos="ricou"
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qfu="225" ground_alt="390" security_height="25" alt = "490">
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<waypoints>
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<waypoint name="HOME" x="-30" y="-100" alt="492"/>
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<waypoint x="150" y="-100"/>
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<waypoint x="150" y="-150"/>
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<waypoint x="-150" y="-100"/>
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<waypoint x="-150" y="-150"/>
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</waypoints>
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<blocks>
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<block name="init">
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<while cond="(autopilot.flight_time)"></while>
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<heading course="QFU" vmode="climb" climb="2.0" until="(GetPosAlt() > SECURITY_ALT)"/>
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</block>
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<block name="balaye">
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<while>
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<go wp="1" hmode="route" vmode="alt" alt="465"/>
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<go wp="2" hmode="direct" vmode="alt" alt="465"/>
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<go wp="3" hmode="route" vmode="alt" alt="465"/>
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<go wp="4" hmode="direct" vmode="alt" alt="465"/>
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</while>
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</block>
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</blocks>
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</flight_plan>
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