mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
101 lines
4.5 KiB
XML
101 lines
4.5 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="35" ground_alt="0" lat0="54.117477" lon0="12.184862" max_dist_from_home="100" name="Krooz Test" security_height="10">
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<header>
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#include "autopilot.h"
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#include "../../subsystems/electrical.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="CAM" x="-20" y="-50" height="11."/>
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<waypoint name="TD" x="5.6" y="-10.9"/>
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<waypoint name="LAND" x="5.6" y="-10.9"/>
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<waypoint name="1" x="3.6" y="-13.9"/>
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<waypoint name="2" x="27.5" y="-48.2"/>
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<waypoint name="3" x="16.7" y="-19.6"/>
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<waypoint name="4" x="13.7" y="-40.7"/>
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</waypoints>
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<exceptions>
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<exception cond="!autopilot_in_flight && !autopilot_motors_on" deroute="Holding point"/>
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</exceptions>
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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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<exception cond="autopilot_motors_on" deroute="Start Engine"/>
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<call_once fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
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</block>
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<block name="Start Engine">
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<exception cond="!RcCommand(RC_MODE_CHANGE) && autopilot_in_flight" deroute="Takeoff"/>
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<exception cond="RcCommand(RC_MODE_CHANGE) && autopilot_in_flight" deroute="Standby"/>
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<call_once fun="NavResurrect()"/>
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<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
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<call_once fun="NavSetWaypointHere(WP_TD)"/>
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<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
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<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<!--<call_once fun="NavStopDetectGround()"/>-->
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<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
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<stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
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</block>
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<block name="Come Home">
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<call_once fun="NavSetWpCurAlt(WP_STDBY)"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<exception cond="!autopilot_motors_on" deroute="Holding point"/>
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<exception cond="LowBatLevel()" deroute="Land"/>
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<exception cond="RcCommand(RC_ROUTE)" deroute="Route"/>
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<exception cond="RcCommand(RC_CIRCLE)" deroute="Circle"/>
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<exception cond="RcCommand(RC_LAND)" deroute="Land"/>
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<exception cond="RcCommand(RC_MODE_CHANGE) && autopilot_motors_on && !autopilot_in_flight" deroute="Start Engine"/>
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<exception cond="RcCommand(RC_MODE_CHANGE) && autopilot_motors_on && autopilot_in_flight" deroute="Come Home"/>
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<stay wp="STDBY"/>
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</block>
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<block name="Route">
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<exception cond="LowBatLevel()" deroute="Land"/>
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<exception cond="RcCommand(RC_LAND)" deroute="Land"/>
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<exception cond="RcCommand(RC_HOME)" deroute="Come Home"/>
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<exception cond="!autopilot_motors_on" deroute="Holding point"/>
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<exception cond="RcCommand(RC_MODE_CHANGE) && autopilot_motors_on && !autopilot_in_flight" deroute="Start Engine"/>
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<!--<call_once fun="NavStopDetectGround()"/>-->
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<go wp="1"/>
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<go from="1" hmode="route" wp="2"/>
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<go from="2" hmode="route" wp="3"/>
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<go from="3" hmode="route" wp="4"/>
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<go from="4" hmode="route" wp="1"/>
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<deroute block="Land"/>
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</block>
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<block name="Circle">
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<exception cond="LowBatLevel()" deroute="Land"/>
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<exception cond="RcCommand(RC_LAND)" deroute="Land"/>
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<exception cond="RcCommand(RC_HOME)" deroute="Come Home"/>
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<exception cond="!autopilot_motors_on" deroute="Holding point"/>
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<exception cond="RcCommand(RC_MODE_CHANGE) && autopilot_motors_on && !autopilot_in_flight" deroute="Start Engine"/><!-- -->
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<circle radius="nav_radius" wp="CAM"/>
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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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<call_once fun="NavSetWpCurAlt(WP_TD)"/>
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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="RcCommand(RC_MODE_CHANGE) && autopilot_motors_on" deroute="Land here"/>
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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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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</blocks>
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</flight_plan>
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