mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
34 lines
1.2 KiB
XML
34 lines
1.2 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
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<header>
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#include "subsystems/datalink/datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="STDBY" x="25.1" y="102.1"/>
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<waypoint name="1" x="115.4" y="191.1"/>
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<waypoint name="3" x="332.7" y="100.6"/>
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<waypoint name="2" x="107.5" y="16.3"/>
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<waypoint name="CLIMB" x="-67.3" y="98.8"/>
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</waypoints>
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<exceptions/>
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<blocks>
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<block name="Geo init">
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<call fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Takeoff">
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<exception cond="GetPosAlt() > GetAltRef()+25" deroute="HSIF"/>
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<set value="0" var="kill_throttle"/>
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<set value="0" var="autopilot_flight_time"/>
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<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block name="HSIF">
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<circle radius="200" until="GetPosX() > 200" wp="2"/>
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<circle radius="-75" until="NavQdrCloseTo(330)" wp="3"/>
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<circle radius="200" until="0 > GetPosX()" wp="1"/>
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<circle radius="35" wp="STDBY"/>
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</block>
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</blocks>
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</flight_plan>
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