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d3605b2c » Pascal Brisset
2008-03-11 *** empty log message ***
1 <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
2
3 <flight_plan alt="240" ground_alt="170" lat0="27.0936" lon0="77.9145" max_dist_from_home="650" name="MAV08" security_height="25">
4 <header>
0d44e660 » flixr
2010-11-20 fix more nav includes
5 #include "subsystems/navigation/nav_line.h"
d3605b2c » Pascal Brisset
2008-03-11 *** empty log message ***
6 #include "datalink.h"
7 </header>
8 <waypoints>
9 <waypoint name="HOME" x="237.4" y="393.5"/>
10 <waypoint name="STDBY" x="238.3" y="13.9"/>
11 <waypoint name="1" x="438.4" y="574.7"/>
12 <waypoint name="2" x="443.0" y="420.6"/>
13 <waypoint name="MOB" x="504.2" y="-66.0"/>
14 <waypoint name="S1" x="532.2" y="333.2"/>
15 <waypoint name="S2" x="628.2" y="418.5"/>
16 <waypoint alt="195.0" name="AF" x="359.6" y="-76.6"/>
17 <waypoint name="_BASELEG" x="502.4" y="-21.4"/>
18 <waypoint name="CLIMB" x="504.7" y="56.4"/>
19 <waypoint name="A" x="177.5" y="49.5"/>
20 <waypoint name="B" x="17.0" y="122.4"/>
21 <waypoint name="C" x="-86.3" y="297.4"/>
22 <waypoint name="D" x="-25.4" y="489.8"/>
23 <waypoint name="E" x="33.9" y="677.3"/>
24 <waypoint name="F1" x="89.3" y="856.0"/>
25 <waypoint name="F2" x="139.2" y="846.1"/>
26 <waypoint name="RT" x="116.3" y="978.7"/>
27 <waypoint alt="165.0" name="TD" x="239.9" y="-72.1"/>
28 <waypoint name="N" x="159.0" y="847.0"/>
29 <waypoint name="WAIT" x="91.9" y="494.7"/>
30 </waypoints>
31 <sectors>
32 <kml file="MAV08_no_fly_boundaries.kml"/>
33 <kml file="MAV08_legs.kml"/>
34 </sectors>
35 <exceptions>
36 <exception cond="datalink_time > 30" deroute="Standby"/>
37 <exception cond="9.7 > PowerVoltage()" deroute="Standby"/>
38 </exceptions>
39 <blocks>
40 <block name="Holding point">
41 <set value="1" var="kill_throttle"/>
42 <attitude roll="0" throttle="0" vmode="throttle"/>
43 </block>
44 <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
45 <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
46 <set value="0" var="kill_throttle"/>
47 <set value="0" var="estimator_flight_time"/>
48 <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
49 </block>
50 <block name="Standby" strip_button="Standby" strip_icon="home.png">
51 <circle radius="nav_radius" wp="STDBY"/>
52 </block>
53 <block name="Wait" strip_button="W">
54 <circle radius="nav_radius" wp="WAIT"/>
55 </block>
56 <block name="Go to North" strip_button="N">
57 <go from="A" hmode="route" wp="B"/>
58 <go from="B" hmode="route" wp="C"/>
59 <go from="C" hmode="route" wp="D"/>
60 <go from="D" hmode="route" wp="E"/>
61 <go from="E" hmode="route" wp="F1"/>
0eec8e11 » Pascal Brisset
2008-03-17 *** empty log message ***
62 <circle radius="nav_radius" wp="N"/>
d3605b2c » Pascal Brisset
2008-03-11 *** empty log message ***
63 </block>
64 <block name="Go to South" strip_button="S">
65 <go from="F2" hmode="route" wp="E"/>
66 <go from="E" hmode="route" wp="D"/>
67 <go from="D" hmode="route" wp="C"/>
68 <go from="C" hmode="route" wp="B"/>
69 <go from="B" hmode="route" wp="A"/>
0eec8e11 » Pascal Brisset
2008-03-17 *** empty log message ***
70 <circle radius="nav_radius" wp="A"/>
d3605b2c » Pascal Brisset
2008-03-11 *** empty log message ***
71 </block>
72 <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
73 <eight center="1" radius="nav_radius" turn_around="2"/>
74 </block>
75 <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
76 <oval p1="1" p2="2" radius="nav_radius"/>
77 </block>
78 <block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
79 <call fun="NavSetWaypointHere(WP_MOB)"/>
80 <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
81 <circle radius="nav_radius" wp="MOB"/>
82 </block>
83 <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
84 <call fun="nav_line_init()"/>
85 <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
86 </block>
87 <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
88 <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
89 </block>
90 <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
91 <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
92 <deroute block="land"/>
93 </block>
94 <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
95 <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
96 <deroute block="land"/>
97 </block>
98 <block name="land">
99 <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
100 <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
8b160c6e » flixr
2011-03-25 updated landing block for better alignment on a left landing, thx Reto.
101 <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
d3605b2c » Pascal Brisset
2008-03-11 *** empty log message ***
102 </block>
103 <block name="final">
104 <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
105 <go from="AF" hmode="route" vmode="glide" wp="TD"/>
106 </block>
107 <block name="flare">
108 <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
109 <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
110 </block>
111 </blocks>
112 </flight_plan>
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