Revision 4ca6344fa668fd8a967aa18160d64fca0259e780 authored by Felix Ruess on 29 May 2012, 22:00:42 UTC, committed by Felix Ruess on 29 May 2012, 22:00:42 UTC
1 parent e75a398
booz_test_sim.xml
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="5" ground_alt="0" lat0="37.6136" lon0="-122.3569" max_dist_from_home="400" name="Booz Test Sim" security_height="2">
<header>
#include "autopilot.h"
</header>
<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."/>
</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="Start Engine">
<call fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="ins_enu_pos.z > POS_BFP_OF_REAL(2.)" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<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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