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rotorcraft_survey_mission.xml
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rotorcraft_survey_mission.xml
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<!DOCTYPE procedure SYSTEM "../flight_plan.dtd">
<procedure>
<header>
#include "autopilot.h"
#include "subsystems/electrical.h"
#ifdef dc_Survey
#define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
#define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
#endif
#ifndef DropOpen
#define DropOpen() FALSE
#endif
#ifndef StartVision
#define StartVision() FALSE
#endif
#ifndef StopVision
#define StopVision() FALSE
#endif
#define WpAlt(X) (30)
</header>
<exceptions>
<exception cond="electrical.bat_low && (exception_flag[0] == 0)" deroute="Standby" exec="set_exception_flag(0)"/>
<exception cond="electrical.bat_critical && (exception_flag[1] == 0)" deroute="land_here" exec="set_exception_flag(1)"/>
</exceptions>
<blocks>
<!-- BOOT -->
<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>
<!-- START -->
<block name="Start Engine" strip_button="Start Engine" strip_icon="resurrect.png" group="engine">
<call fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Takeoff-Standby" strip_button="Takeoff-Drop" strip_icon="takeoff.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Takeoff-Map" strip_button="Takeoff-Map" strip_icon="survey.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="SurveyPoly"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Takeoff-Drop" strip_button="Takeoff-Drop" strip_icon="parachute.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="drop"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Takeoff-Water" strip_button="Takeoff-Water" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 27.0" deroute="drop_water"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<!-- OBSERVE -->
<block name="Standby" strip_button="Standby" strip_icon="home.png" group="hover">
<stay wp="STDBY"/>
</block>
<block name="GoTennis" strip_button="LookRobot-FC" strip_icon="lookdown.png" group="hover">
<call fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_FC)"/>
<go wp="CRUISE"/>
</block>
<block name="LookRobot" >
<stay climb="nav_descend_vspeed" vmode="climb" wp="FC" until="LessThan(stateGetPositionEnu_f()->z, 20)"/>
<call fun="NavCopyWaypointPositionOnly(WP_CAM,WP_FC)"/>
</block>
<block name="Vision" >
<exception cond="! InsideTENNIS(GetPosX(), GetPosY())" deroute="NoVision"/>
<exception cond="block_time > 60" deroute="ComeBack"/>
<call fun="StartVision()"/>
<stay wp="CAM"/>
</block>
<block name="NoVision" >
<exception cond="block_time > 60" deroute="ComeBack"/>
<call fun="StartVision()"/>
<stay wp="FC"/>
</block>
<block name="ComeBack" strip_button="Abort" strip_icon="home.png" group="hover">
<call fun="StopVision()"/>
<call fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_FC)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CRUISE" until="stateGetPositionEnu_f()->z > 30"/>
<call fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_TD)"/>
<go wp="CRUISE"/>
<deroute block="land"/>
</block>
<block name="CAM" strip_button="Follow-Vision-Geolocation-Results" strip_icon="lookdown.png" group="hover">
<stay 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="circle CV" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
<circle radius="nav_radius" wp="CAM"/>
</block>
<!-- DROPPINGS -->
<block name="drop" group="drop">
<go wp="DROP"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="DROP" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
<call fun="DropOpen()"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="DROP" until="stateGetPositionEnu_f()->z > 13"/>
<deroute block="land"/>
</block>
<block name="drop_zone1" group="drop">
<go wp="RZ1"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="RZ1" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
<call fun="DropOpen()"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="RZ1" until="stateGetPositionEnu_f()->z > 13"/>
<deroute block="land"/>
</block>
<block name="drop_zone2" group="drop">
<go wp="RZ2"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="RZ2" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
<call fun="DropOpen()"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="RZ2" until="stateGetPositionEnu_f()->z > 13"/>
<deroute block="land"/>
</block>
<block name="drop_zone3" group="drop">
<go wp="RZ3"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="RZ3" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
<call fun="DropOpen()"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="RZ3" until="stateGetPositionEnu_f()->z > 13"/>
<deroute block="land"/>
</block>
<block name="drop_water" group="drop">
<go wp="WD"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="WD" until="LessThan(stateGetPositionEnu_f()->z, 8)"/>
<call fun="DropOpen()"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="WD" until="stateGetPositionEnu_f()->z > 12"/>
<deroute block="land"/>
</block>
<!-- LAPS -->
<block name="race" strip_button="Oval p1-p2-p3-p4" strip_icon="oval.png" group="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" strip_button="Line raceA-raceB" strip_icon="line.png" group="race">
<go from="raceA" hmode="route" wp="raceB"/>
<go from="raceB" hmode="route" wp="raceA"/>
<deroute block="raceline"/>
</block>
<!-- SURVEYS -->
<!--
<block group="survey" name="Survey S1-S2 NS" strip_button="Survey-NS-S1-S2" 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="survey" name="Survey S1-S2 EW" strip_button="Survey-EW-S1-S2" 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 name="Survey RECTANGLE RUN">
<exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
</block>
-->
<block group="survey" name="SurveyPoly" strip_button="Survey-Polygon-S1-S2-S3-S4" strip_icon="googleearth.png">
<call fun="nav_survey_poly_setup_towards(WP_S1, 4, sweep, WP_S2)"/>
<deroute block="Survey Poly RUN"/>
</block>
<block name="Survey Poly RUN">
<exception cond="PolySurveySweepNum >= 5" deroute="GoTennis"/>
<call fun="nav_survey_poly_run()"/>
</block>
<!-- LANDINGS -->
<block name="land_here" strip_button="Land Here" strip_icon="downdown.png" group="landing">
<call fun="NavCopyWaypoint(WP_CAM,WP_TD)"/><!-- Backup TD location -->
<call fun="NavSetWaypointHere(WP_TD)"/>
<deroute block="flare"/>
</block>
<block name="land" strip_button="Land at TD" strip_icon="land-right.png" group="landing">
<go wp="TD"/>
<deroute block="flare"/>
</block>
<block name="visual_flare" strip_button="VisualLanding-CAM" strip_icon="cam_lock.png" group="landing">
<exception cond="NavDetectGround()" deroute="holding_point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<exception cond="!InsideLAND(GetPosX(), GetPosY())" deroute="land"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.2" vmode="climb" wp="CAM"/>
<deroute block="landed"/>
</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"/>
<deroute block="landed"/>
</block>
<block name="landed" strip_button="Kill" strip_icon="kill.png" group="landing">
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</procedure>