rotorcraft_survey_mission.xml

<!DOCTYPE procedure SYSTEM "../flight_plan.dtd">

<procedure>

  <header>
#include "autopilot.h"
#include "subsystems/electrical.h"
#define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
#define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
  </header>

  <exceptions>
      <exception cond="electrical.bat_low && (exception_flag[0] == 0)" deroute="Standby" exec="check_exception_flag(0)"/>
      <exception cond="electrical.bat_critical && (exception_flag[1] == 0)" deroute="land_here" exec="check_exception_flag(1)"/>
  </exceptions>

  <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" until="FALSE" vmode="throttle"/>
    </block>
    <block name="Start Engine">
      <call fun="NavResurrect()"/>
      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
    </block>
    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
      <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <stay wp="STDBY"/>
    </block>
    <block name="LookRobot" strip_button="LookRobot" strip_icon="home.png">
      <stay wp="FC"/>
    </block>
    <block name="visualflare">
      <exception cond="NavDetectGround()" deroute="holding_point"/>
      <exception cond="!nav_is_in_flight()" deroute="landed"/>
      <call fun="NavStartDetectGround()"/>
      <stay climb="nav_descend_vspeed" vmode="climb" wp="CAM"/>
    </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"/>
      <stay until="stage_time>10" wp="p2"/>
      <go from="p2" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="race">
      <go from="p1" hmode="route" wp="p2"/>
      <go from="p2" hmode="route" wp="p3"/>
      <go from="p3" hmode="route" wp="p4"/>
      <go from="p4" hmode="route" wp="p1"/>
      <deroute block="race"/>
    </block>
    <block name="raceline">
      <go from="raceA" hmode="route" wp="raceB"/>
      <go from="raceB" hmode="route" wp="raceA"/>
      <deroute block="raceline"/>
    </block>
    <block group="extra_pattern" name="Survey S1-S2 NS" strip_button="Svy-NS" strip_icon="survey.png">
      <call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
      <deroute block="Survey RECTANGLE RUN"/>
    </block>
    <block group="extra_pattern" name="Survey S1-S2 EW" strip_button="Svy-LO" strip_icon="survey_we.png">
      <call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, WE)"/>
      <deroute block="Survey RECTANGLE RUN"/>
    </block>
    <block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
      <exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
      <call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
    </block>
    <block group="extra_pattern" name="Survey Poly" strip_button="Svy-P">
      <call fun="nav_survey_poly_setup_towards(WP_S1, 4, sweep, WP_S4)"/>
      <deroute block="Survey Poly RUN"/>
    </block>
    <block group="extra_pattern" name="Survey Poly RUN" strip_button="Svy-P CONT">
      <exception cond="PolySurveySweepNum >= 10" deroute="Standby"/>
      <call fun="nav_survey_poly_run()"/>
    </block>
    <block name="circle CV" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
      <circle radius="nav_radius" wp="CAM"/>
    </block>
    <block name="land_here" strip_button="Land Here" strip_icon="land-right.png">
      <call fun="NavSetWaypointHere(WP_TD)"/>
    </block>
    <block name="land">
      <go wp="TD"/>
    </block>
    <block name="flare">
      <exception cond="NavDetectGround()" deroute="holding_point"/>
      <exception cond="!nav_is_in_flight()" deroute="landed"/>
      <call fun="NavStartDetectGround()"/>
      <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
    </block>
    <block name="landed">
      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
    </block>
  </blocks>

</procedure>