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corsica.xml
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corsica.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<!--flight_plan alt="120" ground_alt="0" lat0="42.644957" lon0="9.015701" max_dist_from_home="200000" name="Corsica" security_height="70"-->
<flight_plan alt="80" ground_alt="0" lat0="43.771918" lon0="7.499057" max_dist_from_home="200000" name="Corsica" security_height="70" qfu="130">
<waypoints>
<waypoint name="HOME" lat="42.644957" lon="9.015701"/>
<waypoint name="STDBY_MENTON" lat="43.77" lon="7.5"/>
<waypoint name="STDBY_LOZARI" lat="42.6444" lon="9.016"/>
<waypoint name="MENTON" lat="43.770726" lon="7.500866"/>
<waypoint name="TMA_NICE" lat="43.540596" lon="7.830192"/>
<waypoint name="TMA_CALVI" lat="42.815734" lon="8.789095"/>
<waypoint name="LOZARI" lat="42.645772" lon="9.014937"/>
<waypoint alt="30.0" name="AF" lat="42.640243" lon="9.011551"/>
<waypoint alt="0.0" name="TD" lat="42.640735" lon="9.014385"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
<waypoint name="CLIMB" lat="43.769542" lon="7.501300"/>
</waypoints>
<includes>
<include name="ZRT" procedure="corsica_sectors.xml"/>
</includes>
<exceptions>
<exception cond="Or(! InsideZRT(GetPosX(), GetPosY()), GetPosAlt() > ground_alt + 300)" deroute="Kill"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</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 Menton"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
</block>
<block name="Standby Menton" strip_button="Standby Menton" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY_MENTON"/>
</block>
<block name="Mission to Corsica" strip_button="Mission to Corsica" strip_icon="path.png">
<go wp="TMA_NICE" from="MENTON" hmode="route"/>
<go wp="TMA_CALVI" from="TMA_NICE" hmode="route"/>
<go wp="LOZARI" from="TMA_CALVI" hmode="route"/>
<deroute block="Standby Lozari"/>
</block>
<block name="Standby Lozari" strip_button="Standby Lozari" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY_LOZARI" until="stage_time>300"/>
<circle radius="nav_radius" wp="STDBY_LOZARI" alt="30"/>
</block>
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<block name="Kill">
<exception cond="And(InsideZRT(GetPosX(), GetPosY()), ground_alt + 300 > GetPosAlt())" deroute="Resume Mission"/>
<attitude roll="0" vmode="throttle" throttle="0.2"/>
</block>
<block name="Resume Mission">
<deroute block="Mission to Corsica"/>
</block>
<block name="Back to Menton">
<go wp="TMA_CALVI" from="LOZARI" hmode="route"/>
<go wp="TMA_NICE" from="TMA_CALVI" hmode="route"/>
<go wp="MENTON" from="TMA_NICE" hmode="route"/>
<deroute block="Standby Menton"/>
</block>
</blocks>
</flight_plan>