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[paparazzi-commits] [4422] Flightplan for NoVa
From: |
Anton K. |
Subject: |
[paparazzi-commits] [4422] Flightplan for NoVa |
Date: |
Sun, 10 Jan 2010 01:03:34 +0000 |
Revision: 4422
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4422
Author: antonk
Date: 2010-01-10 01:03:34 +0000 (Sun, 10 Jan 2010)
Log Message:
-----------
Flightplan for NoVa
Added Paths:
-----------
paparazzi3/trunk/conf/flight_plans/booz2_nova.xml
Added: paparazzi3/trunk/conf/flight_plans/booz2_nova.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/booz2_nova.xml
(rev 0)
+++ paparazzi3/trunk/conf/flight_plans/booz2_nova.xml 2010-01-10 01:03:34 UTC
(rev 4422)
@@ -0,0 +1,68 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="895" ground_alt="890" lat0="32.099794" lon0="-110.773230"
max_dist_from_home="1000" name="NoVa" qfu="270" security_height="2">
+ <waypoints>
+ <waypoint name="HOME" x="0.0" y="0.0"/>
+ <waypoint name="CLIMB" x="0.0" y="5.0"/>
+ <waypoint name="p1" x="3.6" y="-13.9"/>
+ <waypoint name="p2" x="27.5" y="-48.2"/>
+ <waypoint name="p3" x="16.7" y="-19.6"/>
+ <waypoint name="p4" x="13.7" y="-40.7" height="6."/>
+ <waypoint name="CAM" x="-20" y="-50" height="2."/>
+ <waypoint name="blue" x="5" y="-5" height="5."/>
+ <waypoint name="red" x="10" y="-10" height="5."/>
+ </waypoints>
+ <blocks>
+ <block name="Wait GPS">
+ <call fun="NavKillThrottle()"/>
+ <while cond="!GpsFixValid()"/>
+ </block>
+ <block name="Geo init">
+ <while cond="LessThan(NavBlockTime(), 10)"/>
+ <call fun="NavSetGroundReferenceHere()"/>
+ </block>
+ <block name="Holding point">
+ <call fun="NavKillThrottle()"/>
+ <attitude pitch="0" roll="0" throttle="0" vmode="throttle"
until="FALSE"/>
+ </block>
+ <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+ <exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)"
deroute="Standby"/>
+ <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+ <call fun="NavResurrect()"/>
+ <while cond="LessThan(NavBlockTime(), 3)"/>
+ <stay height="4.0" vmode="alt" wp="CLIMB"/>
+ </block>
+ <block name="Standby" strip_button="Standby" strip_icon="home.png">
+ <stay height="4.0" vmode="alt" wp="HOME"/>
+ </block>
+ <block name="stay_p1">
+ <stay wp="p1"/>
+ </block>
+ <block name="go_p2">
+ <go wp="p2"/>
+ <deroute block="stay_p1"/>
+ </block>
+ <block name="line_p1_p2">
+ <go from="p1" hmode="route" wp="p2"/>
+ <go from="p2" hmode="route" wp="p1"/>
+ <deroute block="stay_p1"/>
+ </block>
+ <block name="route">
+ <go from="HOME" hmode="route" wp="p3"/>
+ <go from="p3" hmode="route" wp="p4"/>
+ <go from="p4" hmode="route" wp="HOME"/>
+ <stay wp="HOME"/>
+ </block>
+ <block name="circle">
+ <circle radius="nav_radius" wp="p1"/>
+ </block>
+ <block name="land">
+ <go wp="HOME"/>
+ </block>
+ <block name="flare">
+ <exception cond="NavDetectGround()" deroute="Holding point"/>
+ <call fun="NavStartDetectGround()"/>
+ <stay climb="-0.8" vmode="climb" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
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