mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
89 lines
3.8 KiB
XML
89 lines
3.8 KiB
XML
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="800" name="Versatile" qfu="270" security_height="25">
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<header>
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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="T1" x="-172.3" y="223.2"/>
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<waypoint name="T2" x="126.7" y="314.0"/>
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<waypoint name="T1__" x="-275.8" y="234.9"/>
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<waypoint name="T2__" x="213.1" y="307.2"/>
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<waypoint name="T3_SW" x="266.7" y="80.3"/>
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<waypoint name="T3_NE" x="439.1" y="240.0"/>
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<waypoint alt="30" name="AF" x="200" y="-10"/>
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<waypoint alt="0" name="TD" x="58.3" y="45.2"/>
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<waypoint name="BASELEG" x="309.9" y="138.1"/>
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<waypoint name="STDBY" x="-82.4" y="33.8"/>
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<waypoint name="RELEASE" x="126.9" y="181.6"/>
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<waypoint alt="30" name="START" x="168.8" y="-2.6"/>
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<waypoint name="CLIMB" x="19.2" y="212.5"/>
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<waypoint alt="0.0" name="TARGET" x="25.4" y="73.2"/>
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<waypoint name="A1" x="58.8" y="23.3"/>
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<waypoint name="A2" x="-30.7" y="66.8"/>
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<waypoint alt="9.0" name="A1__" x="150.9" y="16.5"/>
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<waypoint alt="9.0" name="A2__" x="-96.5" y="126.9"/>
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<waypoint alt="15.0" name="A0" x="214.6" y="103.7"/>
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</waypoints>
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<blocks>
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<block name="wait GPS">
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call_once fun="NavSetGroundReferenceHere()"/>
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<deroute block="climb"/>
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</block>
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<block name="climb">
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<attitude pitch="10" roll="0" throttle="0.9" until="GetPosAlt() > GetAltRef()+30" vmode="throttle"/>
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</block>
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<block name="standby" strip_button="STDBY">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="identify T1">
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<eight center="T1" radius="nav_radius" turn_around="T1__"/>
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</block>
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<block name="identify T2">
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<eight center="T2" radius="nav_radius" turn_around="T2__"/>
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</block>
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<block name="locate T3">
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<survey_rectangle grid="150" wp1="T3_SW" wp2="T3_NE"/>
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</block>
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<block name="bomb" strip_button="Bomb">
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<set value="NavDropComputeApproach(WP_TARGET, WP_START)" var="unit"/>
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<circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(nav_drop_start_qdr)-10)" wp="BASELEG"/>
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</block>
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<block name="align">
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<exception cond="NavDropUpdateRelease(WP_TARGET)" deroute="standby"/>
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<go approaching_time="nav_drop_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
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</block>
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<block name="shoot">
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<set value="NavDropShoot()" var="unit"/>
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<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
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<set value="NavDropCloseHatch()" var="unit"/>
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<deroute block="standby"/>
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</block>
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<block name="close">
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<set value="NavDropCloseHatch()" var="unit"/>
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<deroute block="standby"/>
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</block>
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<block name="arch">
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<oval p1="A1__" p2="A2__" radius="nav_radius"/>
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</block>
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<block name="land">
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<call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
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<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
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</block>
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<block name="final">
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<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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