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poles.xml
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poles.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
<header>
#include "subsystems/datalink/datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="49.5" y="100.1"/>
<waypoint name="1" x="-58.3" y="128.6"/>
<waypoint name="2" x="259.1" y="231.9"/>
<waypoint alt="30.0" name="AF" x="203.5" y="-9.8"/>
<waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
<waypoint name="CLIMB" x="-114.5" y="162.3"/>
<waypoint name="C1" x="16.9" y="155.6"/>
<waypoint name="C2" x="104.8" y="127.1"/>
<waypoint name="TARGET" x="28.0" y="23.9"/>
</waypoints>
<exceptions/>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 1)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block key="t" 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 key="<Control>a" name="Standby" strip_button="Standby" strip_icon="home.png">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="Poles 1" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_poles_init(WP_1, WP_2, WP_C1, WP_C2, nav_radius)"/>
<oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
</block>
<block name="Goto Target">
<go wp="TARGET" approaching_time="0"/>
</block>
<block name="Drop">
<set value="MIN_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
</block>
<block name="Poles 2">
<oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
</block>
<block name="Auto pitch (circle wp 1)">
<circle pitch="auto" radius="nav_radius" throttle="0.45" wp="1"/>
</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)-(nav_radius/fabs(nav_radius))*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>
</blocks>
</flight_plan>