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ecb94ad4785c63d3f29fe8b02fe3b856f46f7169
paparazzi/conf/flight_plans/tudelft/oneloop_valkenburg.xml
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Tomaso Maria Luigi De Ponti ecb94ad478 ONELOOP controller updates (#3333)
2024-07-16 13:28:31 +02:00

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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
<flight_plan alt="70.0" ground_alt="0" lat0="52.1681551" lon0="4.4126468" max_dist_from_home="1070" name="Oneloop Valkenburg" security_height="2">
<header>
#include "autopilot.h"
#include "modules/datalink/datalink.h"
#include "modules/energy/electrical.h"
#include "modules/radio_control/radio_control.h"
#include "modules/ahrs/ahrs.h"
#include "modules/gps/gps.h"
</header>
<waypoints>
<waypoint name="HOME" lat="52.1681551" lon="4.4126468" alt="70.0" />
<waypoint name="CLIMB" lat="52.1687915" lon="4.4153418" alt="70.0" />
<waypoint name="trans" lat="52.1687890" lon="4.4153418" alt="70.0" />
<waypoint name="decel" lat="52.1687875" lon="4.4153418" alt="70.0" />
<waypoint name="begin_trans" lat="52.1687905" lon="4.4153418" alt="70.0" />
<waypoint name="end_trans" lat="52.1687880" lon="4.4153418" alt="70.0" />
<waypoint name="STDBY" lat="52.1682138" lon="4.4136350" alt="70.0" />
<waypoint name="p1" lat="52.1661207" lon="4.4153418" alt="70.0" />
<waypoint name="p2" lat="52.1674823" lon="4.4180372" alt="70.0" />
<waypoint name="p3" lat="52.1687917" lon="4.4173814" alt="70.0" />
<waypoint name="p4" lat="52.1679564" lon="4.4149828" alt="70.0" />
<waypoint name="circ" lat="52.1674456" lon="4.4161317" alt="70.0" />
<waypoint name="TD" lat="52.1681531" lon="4.4126768" alt="70.0" />
<waypoint name="Descend" lat="52.1681246" lon="4.4128048" alt="20.0" />
<waypoint name="FOLLOW" lat="52.1685096" lon="4.4136350" alt="70.0" />
<waypoint name="S1" lat="52.1669450" lon="4.4174372" alt="70.0" />
<waypoint name="S2" lat="52.1689871" lon="4.4208804" alt="70.0" />
<waypoint name="C1" lat="52.169189" lon="4.410820" alt="70.0" />
<waypoint name="C2" lat="52.168049" lon="4.406923" alt="70.0" />
<waypoint name="C3" lat="52.166515" lon="4.408235" alt="70.0" />
<waypoint name="C4" lat="52.163255" lon="4.407668" alt="70.0" />
<waypoint name="C5" lat="52.161908" lon="4.410082" alt="70.0" />
<waypoint name="C6" lat="52.162641" lon="4.416992" alt="70.0" />
<waypoint name="C7" lat="52.164861" lon="4.427268" alt="70.0" />
<waypoint name="C8" lat="52.170422" lon="4.427511" alt="70.0" />
<waypoint name="C9" lat="52.172276" lon="4.424011" alt="70.0" />
<waypoint name="p5" lat="52.1626367" lon="4.4124884" alt="70.0" />
<waypoint name="p6" lat="52.1650926" lon="4.4257087" alt="70.0" />
<waypoint name="p7" lat="52.1709078" lon="4.4220382" alt="70.0" />
<waypoint name="p8" lat="52.1685456" lon="4.4103268" alt="70.0" />
</waypoints>
<sectors>
<sector color="red" name="Hard_Geofence">
<corner name="C1"/>
<corner name="C2"/>
<corner name="C3"/>
<corner name="C4"/>
<corner name="C5"/>
<corner name="C6"/>
<corner name="C7"/>
<corner name="C8"/>
<corner name="C9"/>
</sector>
<sector color="blue" name="Soft_Geofence">
<corner name="p5"/>
<corner name="p6"/>
<corner name="p7"/>
<corner name="p8"/>
</sector>
</sectors>
<modules>
<!--<module name="follow_me">
<define name="FOLLOW_ME_MOVING_WPS" value="WP_p1,WP_p2,WP_p3,WP_p4,WP_STDBY,WP_circ,WP_APP"/>
</module> -->
</modules>
<exceptions>
<!--Soft Geofencing (go back to Standby)-->
<exception cond="Or(!InsideSoft_Geofence(GetPosX(), GetPosY()), GetPosAlt() @GT 100.0) @AND
!(nav_block == IndexOfBlock('Wait GPS')) @AND
!(nav_block == IndexOfBlock('Geo init'))" deroute="safe"/>
<!-- Hard Geofencing (Kill) -->
<exception cond="(Or(!InsideHard_Geofence(GetPosX(), GetPosY()), GetPosAlt() @GT 100.0) @AND
!(IndexOfBlock('Holding point') @GT nav_block) @AND
!(nav_block >= IndexOfBlock('land here')) @AND
(autopilot_in_flight() == true) )" deroute="Landed"/>
<!-- RC lost -->
<exception cond="((radio_control.status == RC_REALLY_LOST) @AND
!(IndexOfBlock('Holding point') @GT nav_block) @AND
!(nav_block >= IndexOfBlock('land here')) @AND
(autopilot_in_flight() == true) )" deroute="Landed"/>
<!-- Datalink lost -->
<exception cond="((datalink_time @GT 5) @AND
!(IndexOfBlock('Holding point') @GT nav_block) @AND
!(nav_block >= IndexOfBlock('land here')) @AND
(autopilot_in_flight() == true) )" deroute="Landed"/>
<!-- Bat low (constant RPM descent)-->
<exception cond="(electrical.bat_low @AND
!(IndexOfBlock('Holding point') @GT nav_block) @AND
!(nav_block >= IndexOfBlock('land here')) @AND
(autopilot_in_flight() == true) )" deroute="land here"/>
<!-- Bat critical (constant RPM no stabilization)-->
<exception cond="(electrical.bat_critical @AND
!(IndexOfBlock('Holding point') @GT nav_block) @AND
!(nav_block >= IndexOfBlock('land here')) @AND
(autopilot_in_flight() == true) )" deroute="land here"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="NavKillThrottle()"/>
<while cond="!GpsFixValid() || !state.ned_initialized_i"/>
</block>
<block name="Geo init" strip_button="Geo_init" strip_icon="googleearth.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<while cond="LessThan(NavBlockTime(), 10)"/>
<call_once fun="NavSetAltitudeReferenceHere()"/>
</block>
<block name="Holding point" strip_button="Holding point" strip_icon="off.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="NavKillThrottle()"/>
<set var="commands[COMMAND_MOTOR_PUSHER]" value="0"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
</block>
<block name="Climb" strip_button="Climb" strip_icon="up.png">
<exception cond="GetPosHeight() @GT 20.0" deroute="Standby"/>
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="nav_set_heading_current()"/>
<stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="wp_quad.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Standby_fwd" strip_button="Standby_fwd" strip_icon="wp_fwd.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Descend" strip_button="Descend" strip_icon="descend.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<stay wp="Descend" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<!-- <block name="stay_begin-trans">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="end_transition">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="end_trans"/>
</block>-->
<block name="transition_CW" strip_button="transition_CW" strip_icon="transition_right.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
</block>
<block name="transition_CCW" strip_button="transition_CCW" strip_icon="transition_left.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
</block>
<block name="safe" strip_button="Unsafe" strip_icon="alert.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay wp="HOME" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Circle_CW_fwd" strip_button="CircleCW_Forward" strip_icon="circle_cw_fwd.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Circle_CCW_fwd" strip_button="CircleCCW_Forward" strip_icon="circle_ccw_fwd.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Circle_CW_quad" strip_button="CircleCW_Quad" strip_icon="circle_cw_quad.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Circle_CCW_quad" strip_button="CircleCCW_Quad" strip_icon="circle_ccw_quad.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="rotwing_state_force_skew_off()"/>
<circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="route_fw" strip_button="Route_fwd" strip_icon="path.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
<go from="p1" hmode="route" wp="p2"/>
<go from="p2" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="route_fw"/>
</block>
<block name="land here" strip_button="Land_Here" strip_icon="land-right.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<call_once fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land" strip_button="Land" strip_icon="land-right.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<go wp="TD"/>
</block>
<block name="descend" strip_button="Descend" strip_icon="down.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="GetPosHeight() @LT 12.0" deroute="flare"/>
<stay climb="-1.0" vmode="climb" wp="TD"/>
</block>
<block name="flare" strip_button="Flare" strip_icon="downdown.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<stay climb="-0.5" vmode="climb" wp="TD"/>
<!--<exception cond="!(GetPosHeight() @LT 2.0)" deroute="flare_low"/>-->
<exception cond="agl_dist_valid @AND (agl_dist_value @LT 0.28)" deroute="flare_low"/>
</block>
<block name="flare_low" strip_button="FlareLow" strip_icon="downdown.png">
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
<exception cond="ground_detect()" deroute="Holding point"/>
<call_once fun="NavStartDetectGround()"/>
<stay climb="-0.5" vmode="climb" wp="TD"/>
</block>
<block name="Manual" strip_button="Manual" strip_icon="joystick.png">
<set value="AP_MODE_ATTITUDE_DIRECT" var="autopilot_mode_auto2"/>
<stay wp="STDBY"/>
</block>
<block name="Landed">
<call_once fun="NavKillThrottle()"/>
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>
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