mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
91 lines
3.4 KiB
XML
91 lines
3.4 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Cam test (Enac)" security_height="2">
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<header>
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#include "autopilot.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0.0" y="0.0"/>
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<waypoint name="CLIMB" x="0.0" y="5.0"/>
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<waypoint name="STDBY" x="-2.0" y="-5.0"/>
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<waypoint name="p1" x="22.4" y="-15.9"/>
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<waypoint name="p2" x="60.5" y="-71.6"/>
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<waypoint name="p3" x="43.1" y="-83.1"/>
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<waypoint name="p4" x="2.7" y="-26.7"/>
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<waypoint height="2." name="CAM" x="-20" y="-50"/>
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<waypoint name="TD" x="5.6" y="-10.9"/>
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</waypoints>
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<blocks>
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<block name="Wait GPS">
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<call_once fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call_once fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Start Engine">
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<call_once fun="NavResurrect()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<stay wp="STDBY"/>
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</block>
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<block name="stay_p1">
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<stay wp="p1"/>
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</block>
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<block name="go_p2">
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<call_once fun="nav_set_heading_deg(90)"/>
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<go wp="p2"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="line_p1_p2">
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<go from="p1" hmode="route" wp="p2"/>
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<stay until="stage_time>10" wp="p2"/>
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<go from="p2" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="route dc shoot">
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<go wp="p1"/>
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<set value="DC_AUTOSHOOT_DISTANCE" var="dc_autoshoot"/>
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<go from="p1" hmode="route" wp="p2"/>
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<go from="p2" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<set value="DC_AUTOSHOOT_STOP" var="dc_autoshoot"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
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<set value="25" var="nav_radius"/>
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<call_once fun="dc_Circle(30)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 1.0" wp="CAM"/>
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<call_once fun="dc_stop()"/>
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<deroute block="Standby"/>
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</block>
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<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="land">
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<go wp="TD"/>
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</block>
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<block name="flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="landed"/>
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<call_once fun="NavStartDetectGround()"/>
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<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="landed">
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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