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
versatile_carto_fixe_muret.xml
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="240" ground_alt="190" lat0="43.4622" lon0="1.2729" max_dist_from_home="1200" name="Versatile" qfu="270" security_height="60">
<!--<flight_plan alt="240" ground_alt="190" lat0="43.224622" lon0="1.2729" max_dist_from_home="900" name="Versatile" qfu="270" security_height="25"> -->
<header>
#include "datalink.h"
/*
#ifndef VARDECLARED
#define VARDECLARED
float varsweepsize=110;
#endif
*/
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="20" y="80"/>
<waypoint name="1" x="44.8" y="102.2"/>
<waypoint name="2" x="-63.5" y="122.9"/>
<waypoint name="MOB" x="-11.5" y="-21.2"/>
<waypoint name="S1" x="-177.6" y="11.6"/>
<waypoint name="S2" x="173.9" y="-41.3"/>
<waypoint name="S3" x="-60.6" y="310.9"/>
<waypoint name="S4" x="-204.7" y="17.0"/>
<waypoint alt="30" name="AF" x="200" y="-10"/>
<waypoint alt="0" name="TD" x="80.0" y="20.0"/>
<waypoint name="BASELEG" x="26.9" y="-23.0"/>
<waypoint name="_1" x="-100" y="0"/>
<waypoint name="_2" x="-100" y="200"/>
<waypoint name="_3" x="100" y="200"/>
<waypoint name="_4" x="100" y="0"/>
<waypoint name="CLIMB" x="-122.5" y="35.4"/>
<waypoint name="SP1" x="-57.2" y="9.8"/>
<waypoint name="SP2" x="54.2" y="-41.7"/>
<waypoint name="SP3" x="-15.7" y="88.6"/>
<waypoint name="SP4" x="97.5" y="37.8"/>
</waypoints>
<!-- <sectors>
<sector name="PolySectorS">
<corner name="S1"/>
<corner name="S2"/>
<corner name="S3"/>
<corner name="S4"/>
</sector>
</sectors>-->
<exceptions/>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Holding point">
<set value="1" var="kill_throttle"/>
<set value="NAV_MODE_ROLL" var="nav_mode"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<deroute block="Holding point"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<go wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="IncRailNumber" strip_button="Standby" strip_icon="home.png">
<call fun="nav_survey_Inc_railnumberSinceBoot()"/>
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="Snapshoot" strip_button="Standby" strip_icon="home.png">
<call fun="nav_survey_Snapshoot()"/>
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="SnapshootContinu" strip_button="Standby" strip_icon="home.png">
<call fun="nav_survey_Snapshoot_Continu()"/>
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="StopSnapshoot" strip_button="Standby" strip_icon="home.png">
<call fun="nav_survey_StopSnapshoot()"/>
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/>
</block>
<block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<circle radius="100" wp="MOB"/>
</block>
<block name="init_display_carto">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
</block>
<block name="Monter">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle alt="ground_alt+105" radius="nav_radius" wp="MOB"/>
<exception cond="estimator_z > ground_alt+100" deroute="Carto survey S1-S2-S3"/>
</block>
<block name="Carto survey S1-S2-S3" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_S1,WP_S2,WP_S3, 50,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
<block name="Carto survey S1-S3-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_S1,WP_S3,WP_S2, 0,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
<block name="Fin Carto" strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="init_display_carto Fin">
<call fun="nav_survey_computefourth_corner(WP_SP1,WP_SP2,WP_SP3,WP_SP4)"/>
</block>
<block name="Descendre">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle alt="ground_alt+35" radius="nav_radius" wp="MOB"/>
<exception cond="ground_alt+40 > estimator_z " deroute="Carto survey SP1-SP2-SP3 fin"/>
</block>
<block name="Carto survey SP1-SP2-SP3 fin" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_SP1,WP_SP2,WP_SP3, 20,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
<block name="Carto survey SP1-SP3-SP2 fin " strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<call fun="nav_survey_computefourth_corner(WP_S1,WP_S2,WP_S3,WP_S4)"/>
<call fun="nav_survey_losange_carto_init(WP_SP1,WP_SP3,WP_SP2, 0,150)"/>
<call fun="nav_survey_losange_carto()"/>
</block>
<block name="Fin Carto fin " strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
</blocks>
</flight_plan>
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