mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-27 08:55:51 +08:00
Felix Ruess
112 lines
4.3 KiB
XML
112 lines
4.3 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
|
|
|
|
<!-- Valkenburg -->
|
|
<!-- <flight_plan alt="40" ground_alt="0" lat0="52.170867" lon0="4.412194" max_dist_from_home="1000" name="Transitioning test" security_height="2"> -->
|
|
<!-- Delft -->
|
|
<flight_plan alt="40" ground_alt="0" lat0="51.979438" lon0="4.390148" max_dist_from_home="1000" name="Transitioning test" security_height="2">
|
|
<header>
|
|
#include "autopilot.h"
|
|
#include "subsystems/radio_control.h"
|
|
#include "subsystems/electrical.h"
|
|
#include "subsystems/actuators.h"
|
|
#include "firmwares/rotorcraft/guidance/guidance_h.h"
|
|
</header>
|
|
<waypoints>
|
|
<waypoint name="HOME" x="0.0" y="0.0"/>
|
|
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
|
|
<waypoint name="p1" x="53.9" y="9.6"/>
|
|
<waypoint name="p2" x="-64.4" y="31.4"/>
|
|
<waypoint name="p3" x="-50.7" y="66.2"/>
|
|
<waypoint name="p4" x="60.0" y="41.3"/>
|
|
</waypoints>
|
|
<blocks>
|
|
<block name="Wait GPS">
|
|
<call_once fun="NavKillThrottle()"/>
|
|
<while cond="!GpsFixValid()"/>
|
|
</block>
|
|
<block name="Geo init">
|
|
<while cond="LessThan(NavBlockTime(), 10)"/>
|
|
<call_once fun="NavSetGroundReferenceHere()"/>
|
|
</block>
|
|
<block name="Holding point">
|
|
<call_once fun="NavKillThrottle()"/>
|
|
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
|
</block>
|
|
<block name="Start Engine">
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<call_once fun="NavResurrect()"/>
|
|
</block>
|
|
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
|
<exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Climb"/>
|
|
<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<attitude pitch="0" roll="0" throttle="0.5" until="FALSE" vmode="throttle"/>
|
|
</block>
|
|
<block name="Climb">
|
|
<exception cond="stateGetPositionEnu_f()->z > 20.0" deroute="Standby"/>
|
|
<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<stay climb="2" vmode="climb" wp="STDBY"/>
|
|
</block>
|
|
<block name="Standby" strip_button="Standby" strip_icon="home.png">
|
|
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<stay wp="STDBY"/>
|
|
</block>
|
|
<block name="stay_p1">
|
|
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<stay wp="p1"/>
|
|
</block>
|
|
<block name="go_p2_p1">
|
|
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<go wp="p2"/>
|
|
<deroute block="stay_p1"/>
|
|
</block>
|
|
<block name="pylon_racing">
|
|
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<go wp="p2"/>
|
|
<go wp="p3"/>
|
|
<go wp="p4"/>
|
|
<go wp="p1"/>
|
|
<deroute block="stay_p1"/>
|
|
</block>
|
|
<block name="pylon_racing_forward">
|
|
<exception cond="radio_control.status > RC_OK" deroute="land"/>
|
|
<set value="TRUE" var="force_forward_flight"/>
|
|
<go wp="p2"/>
|
|
<go wp="p3"/>
|
|
<go wp="p4"/>
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<go wp="p1"/>
|
|
<deroute block="stay_p1"/>
|
|
</block>
|
|
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
|
|
</block>
|
|
<block name="land">
|
|
<set value="FALSE" var="force_forward_flight"/>
|
|
<go wp="STDBY"/>
|
|
</block>
|
|
<block name="descent">
|
|
<exception cond="8.0 > stateGetPositionEnu_f()->z" deroute="descent_slow"/>
|
|
<stay climb="-1" vmode="climb" wp="STDBY"/>
|
|
</block>
|
|
<block name="descent_slow">
|
|
<exception cond="2.0 > stateGetPositionEnu_f()->z" deroute="flare"/>
|
|
<stay climb="-1" vmode="climb" wp="STDBY"/>
|
|
</block>
|
|
<block name="flare">
|
|
<exception cond="0.3 > sonar_adc.distance" deroute="landed"/>
|
|
<attitude pitch="0" roll="0" throttle="0.13" vmode="throttle"/>
|
|
</block>
|
|
<block name="landed">
|
|
<call_once fun="NavKillThrottle()"/>
|
|
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
|
</block>
|
|
</blocks>
|
|
</flight_plan>
|