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creidlitz.xml
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creidlitz.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="420" ground_alt="360" lat0="50.230060" lon0="10.990449" max_dist_from_home="1500" name="Flugplatz Steinruecken" security_height="25" QFU="210">
<header>
#include "subsystems/navigation/nav_line.h"
#include "subsystems/datalink/datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="103.9" y="-96.3"/>
<waypoint name="PROFILE" x="123.9" y="-116.7"/>
<waypoint name="1" x="8.9" y="-149.8"/>
<waypoint name="2" x="241.5" y="-62.1"/>
<waypoint name="MOB" x="137.0" y="-11.6"/>
<waypoint name="S1" x="-100.8" y="-293.0"/>
<waypoint name="S2" x="307.3" y="-65.4"/>
<waypoint name="CLIMB" x="-102.3" y="-129.0"/>
</waypoints>
<exceptions>
<exception cond="GetPosAlt() > 3400" deroute="Standby"/>
<exception cond="datalink_time > 30" deroute="Standby"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="estimator_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="profile_up" strip_button="Profile Up" strip_icon="up_profile.png">
<circle radius="nav_radius" wp="PROFILE"/>
</block>
<block name="profile_down" strip_button="Profile Down" strip_icon="down_profile.png">
<circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(ground_alt+150 > GetPosAlt())" vmode="throttle" wp="PROFILE"/>
<deroute block="Standby"/>
</block>
<block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle radius="nav_radius" wp="MOB"/>
</block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
</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="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block name="Survey S1-S2 WE" strip_button="Survey (wp S1-S2) WE" strip_icon="survey_we.png">
<survey_rectangle grid="150" orientation="WE" wp1="S1" wp2="S2"/>
</block>
</blocks>
</flight_plan>