mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Pascal Brisset
88 lines
3.3 KiB
XML
88 lines
3.3 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="1000" ground_alt="840" lat0="65.007419" lon0="-18.895916" max_dist_from_home="4500" name="Ingolfsskali" qfu="0" security_height="160">
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<header>
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#include "nav_line.h"
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#include "datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="15.0" y="5.0"/>
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<waypoint name="CLIMB" x=".669853874" y="213.9946379811"/>
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<waypoint name="1" x="-181.785735614" y="-34.9692539535"/>
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<waypoint name="2" x="130.143368186" y="-90.3661855655"/>
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<waypoint name="CR" x="0.0885126006" y="-73.7359798392"/>
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<waypoint name="S1" x="-200" y="-200"/>
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<waypoint name="S2" x="300" y="400"/>
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</waypoints>
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<exceptions>
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<exception cond="estimator_z > 3600" deroute="wait"/>
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<exception cond="datalink_time > 30" deroute="wait"/>
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<exception cond="10 > PowerVoltage()" deroute="wait"/>
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</exceptions>
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<blocks>
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<block name="start">
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<set value="10" var="my_nav_roll"/>
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<set value="-10" var="my_nav_pitch"/>
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<attitude pitch="5" roll="0" throttle="0.7" until="(estimator_flight_time > 5)" vmode="throttle"/>
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<go wp="1"/>
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</block>
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<block name="east">
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<go approaching_time="2" from="1" hmode="route" target="2" wp="2"/>
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<deroute block="west"/>
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</block>
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<block name="west">
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<go approaching_time="2" from="2" hmode="route" target="1" wp="1"/>
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<deroute block="east"/>
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</block>
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<block name="circles">
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<for from="1" to="5" var="i">
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<set value="$i*750*cos(RadOfDeg(30))" var="waypoints[WP_2].x"/>
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<set value="$i*750*sin(RadOfDeg(30))+nav_radius" var="waypoints[WP_2].y"/>
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<go hmode="route" wp="2"/>
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<set value="$i*750*sin(RadOfDeg(30))" var="waypoints[WP_2].y"/>
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<circle radius="nav_radius" until="NavCircleCount()>1" wp="2"/>
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</for>
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<deroute block="west"/>
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</block>
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<block name="clock">
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<circle radius="nav_radius" wp="CR"/>
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</block>
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<block name="counter">
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<circle radius="-90" wp="CR"/>
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</block>
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<block name="survey">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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</block>
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<block name="survey WE">
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<survey_rectangle grid="150" orientation="WE" wp1="S1" wp2="S2"/>
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</block>
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<block name="profile">
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<for from="1" to="5" var="i">
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<circle alt="ground_alt+50* $i" radius="nav_radius" until="stage_time>120" wp="1"/>
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</for>
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</block>
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<block name="climb">
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<circle radius="nav_radius" wp="CLIMB"/>
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</block>
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<block name="descent">
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<circle radius="nav_radius" wp="CLIMB" vmode="throttle" throttle="0" pitch="RadOfDeg(my_nav_pitch)" until="(ground_alt+150 > estimator_z)"/>
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<deroute block="wait"/>
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</block>
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<block name="wind">
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<attitude pitch="RadOfDeg(my_nav_pitch)" roll="my_nav_roll" throttle="0.0" until="(ground_alt+150 > estimator_z)" vmode="throttle"/>
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<deroute block="wait"/>
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</block>
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<block name="wait" strip_button="Wait">
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<circle radius="nav_radius" wp="CLIMB" alt="ground_alt+200"/>
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</block>
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<block name="roll">
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<set value="TRUE" var="h_ctl_disabled"/>
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<set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
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<while cond="3.> stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
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<set value="FALSE" var="h_ctl_disabled"/>
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<return/>
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</block>
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</blocks>
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</flight_plan>
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