Revision 4fc6a0d5a8836ca6ac96379d76443069528033a7 authored by Felix Ruess on 04 June 2012, 12:22:36 UTC, committed by Felix Ruess on 04 June 2012, 12:22:36 UTC
1 parent 6b79d6a
mav06.xml
<flight_plan alt="100" ground_alt="59" lat0="30.6478" lon0="-86.3253" max_dist_from_home="1500" name="MAV06" qfu="90" security_height="25">
<header>
#include "subsystems/navigation/bomb.h"
#include "subsystems/navigation/nav_line.h"
</header>
<waypoints>
<waypoint alt="59." name="TARGET" x="85.1922610838" y="8.50236448925"/>
<waypoint name="TARGET1" x="700.251490867" y="-210.691196656"/>
<waypoint name="11" x="0." y="-150."/>
<waypoint name="22" x="0." y="150."/>
<waypoint name="BASELEG" x="-2.87161011167" y="-163.418097454"/>
<waypoint alt="90." name="START" x="-61.4546727629" y="-124.362795495"/>
<waypoint name="RELEASE" x="149.970542131" y="126.560028979"/>
<waypoint name="HOME" x="0" y="-60"/>
<waypoint alt="120." name="WAIT" x="117.199996091" y="-142.703845164"/>
<waypoint alt="120." name="CLIMB" x="241.669853874" y="83.9946379811"/>
<waypoint alt="89." name="AF" x="-143.80300338" y="-158.231289385"/>
<waypoint alt="59." name="TD" x="27.3293594896" y="1.40175988153"/>
<waypoint name="TOD" x="-142.91998501" y="2.3426450938"/>
<waypoint name="OVERRUN" x="207.635718161" y="109.431672315"/>
<waypoint name="CIRCLE" x="10" y="10"/>
</waypoints>
<blocks>
<block name="kill">
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<!-- <block name="land">
<set value="compute_baseleg()" var="unit"/>
<circle radius="BOMB_RADIUS" until="circle_count > 0.5" wp="BASELEG"/>
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(bomb_start_qdr)-10) && baseleg_alt_tolerance > fabs(estimator_z - baseleg_alt)" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
<go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<block name="circle 1">
<exception cond="block_time > 300" deroute="wait"/>
<circle wp="C1" radius="80"/>
</block>
<block name="climb">
<exception cond=" estimator_z > ground_alt +30" deroute="wait"/>
<attitude pitch="15" roll="0" throttle="0.8" until="10> stage_time" vmode="throttle"/>
</block>-->
<block name="wait" strip_button="Wait">
<set value="v_ctl_auto_throttle_nominal_cruise_throttle" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="-100" wp="WAIT"/>
</block>
<!-- <block name="Climb 0">
<circle climb="0" radius="100" vmode="climb" wp="WAIT"/>
</block>
<block name="target1" strip_button="T1">
<exception cond="block_time > 300" deroute="wait"/>
<eight center="TARGET1" radius="80" turn_around="C1"/>
</block>
<block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach()" var="unit"/>
<circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
</block>
<block name="align">
<exception cond="BombUpdateRelease()" deroute="kill"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block>
<block name="shoot">
<set value="BombShoot()" var="unit"/>
<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block>
<block name="close">
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block>
<block name="roll" strip_button="Roll">
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<while cond="3 > stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
<set value="FALSE" var="h_ctl_disabled"/>
<return/>
</block>-->
<!-- <block name="circle_here" strip_button="circle_here">
<set value="compute_loiter()" var="unit"/>
<circle radius="-100" wp="CIRCLE"/>
</block>-->
<block name="Line" strip_button="Line">
<call fun="nav_line_init()"/>
<call fun="nav_line(WP_11, WP_22, 100)"/>
</block>
</blocks>
</flight_plan>
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