-
Notifications
You must be signed in to change notification settings - Fork 1.1k
/
EMAV2009.xml
46 lines (43 loc) · 1.78 KB
/
EMAV2009.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="100" ground_alt="54" lat0="52.3825204" lon0="5.897420" max_dist_from_home="1500" name="EMAV09" security_height="25">
<header>
#include "datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="96.2" y="-36.2"/>
<waypoint name="1" x="34.6" y="-31.9"/>
<waypoint name="2" x="174.3" y="79.9"/>
<waypoint name="MOB" x="418.5" y="208.7"/>
<waypoint alt="104.0" name="CLIMB" x="-0.2" y="-97.2"/>
</waypoints>
<includes>
<include name="Safety" procedure="EMAV2009_data.xml"/>
<include name="Safety" procedure="EMAV2009_safety.xml"/>
<include name="L" procedure="landing.xml"/>
</includes>
<exceptions/>
<blocks>
<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="autopilot_flight_time"/>
<go from="HOME" pitch="15" 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="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
<eight center="1" radius="nav_radius" turn_around="2"/>
</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>
</blocks>
</flight_plan>