[flight plan] update flight plans to use state interface

paparazzi · Aug 23, 2012 · 08cdc77 · 08cdc77
1 parent 3e7906e
commit 08cdc77
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Showing 35 changed files with 144 additions and 139 deletions.
diff --git a/conf/flight_plans/EMAV2008.xml b/conf/flight_plans/EMAV2008.xml
@@ -48,7 +48,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="estimator_z > ground_alt+40" deroute="Standby"/>
+      <exception cond="GetPosAlt() > ground_alt+40" deroute="Standby"/>
       <set value="0" var="kill_throttle"/>
       <go wp="CLIMB"/>
     </block>
@@ -84,14 +84,14 @@
     </block>
     <block name="land">
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
-<!--      <exception cond="ground_alt + 6 > estimator_z" deroute="flare"/> -->
+<!--      <exception cond="ground_alt + 6 > GetPosAlt()" deroute="flare"/> -->
       <go approaching_time="0" from="AF" hmode="route" wp="SF"/>
     </block>
     <block name="shortfinal">
-<!--      <exception cond="ground_alt + 6 > estimator_z" deroute="flare"/> -->
+<!--      <exception cond="ground_alt + 6 > GetPosAlt()" deroute="flare"/> -->
       <go approaching_time="0" from="SF" hmode="route" wp="TD"/>
     </block>
     <block name="flare">
@@ -114,7 +114,7 @@
     </block>
     <block name="Circle 1">
       <exception cond="datalink_time > 25" deroute="Standby"/>
-      <circle alt="WaypointAlt(WP_1)" radius="nav_radius" until="15 > fabs(estimator_z - WaypointAlt(WP_1))" wp="STDBY"/>
+      <circle alt="WaypointAlt(WP_1)" radius="nav_radius" until="15 > fabs(GetPosAlt() - WaypointAlt(WP_1))" wp="STDBY"/>
       <go alt="WaypointAlt(WP_1)" approaching_time="-15" from="STDBY" hmode="route" wp="1"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.7" wp="1"/>
       <go alt="WaypointAlt(WP_1)" approaching_time="-15" from="1" hmode="route" wp="STDBY"/>

diff --git a/conf/flight_plans/EMAV2009.xml b/conf/flight_plans/EMAV2009.xml
@@ -26,7 +26,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
       <set value="0" var="kill_throttle"/>
       <set value="0" var="estimator_flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>

diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
@@ -79,8 +79,8 @@
     </block>
 
     <block name="ChemotaxisHere">
-      <set var="waypoints[WP_C].x" value="estimator_x"/>
-      <set var="waypoints[WP_C].y" value="estimator_y"/>
+      <set var="waypoints[WP_C].x" value="GetPosX()"/>
+      <set var="waypoints[WP_C].y" value="GetPosY()"/>
       <deroute block="Chemotaxis"/>
     </block>
 
@@ -107,15 +107,15 @@
     </block>
 
     <block name="climb 75">
-      <circle radius="50+(estimator_z-ground_alt)/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10 > PowerVoltage()"/>
+      <circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10 > PowerVoltage()"/>
     </block>
 
     <block name="climb 1">
-      <circle radius="50+(estimator_z-ground_alt)/2" wp="1" climb="1" pitch="5" vmode="climb" until="10 > PowerVoltage()"/>
+      <circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" climb="1" pitch="5" vmode="climb" until="10 > PowerVoltage()"/>
     </block>
 
     <block name="descent 0">
-      <circle radius="50+(estimator_z-ground_alt)/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle" until="ground_alt+50 > estimator_z"/>
+      <circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle" until="ground_alt+50 > GetPosAlt()"/>
       <deroute block="wait"/>
     </block>
 
@@ -148,12 +148,12 @@
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
       <circle radius="nav_radius"
-              until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
+              until="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 > estimator_z" deroute="flare"/>
+      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
 

diff --git a/conf/flight_plans/basic.xml b/conf/flight_plans/basic.xml
@@ -36,7 +36,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
-      <exception cond="stateGetPositionEnu_f()->z > ground_alt+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
       <set value="0" var="kill_throttle"/>
       <set value="0" var="estimator_flight_time"/>
       <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -78,10 +78,10 @@
     <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(stateGetPositionEnu_f()->z - WaypointAlt(WP__BASELEG)))" 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 > stateGetPositionEnu_f()->z" deroute="flare"/>
+      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">

diff --git a/conf/flight_plans/ccc_gl.xml b/conf/flight_plans/ccc_gl.xml
@@ -45,7 +45,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
-      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
       <set value="0" var="kill_throttle"/>
       <go wp="CLIMB"/>
     </block>
@@ -66,19 +66,19 @@
       <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
     </block>
     <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
+      <circle pitch="10" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="throttle" wp="1"/>
     </block>
     <block name="Climb 0m/s">
       <circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb 1m/s">
-      <circle climb="1" pitch="5" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
+      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="climb" wp="1"/>
     </block>
     <block name="Descent 0% throttle">
-      <circle pitch="-5" radius="50+(estimator_z-ground_alt)/2" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
+      <circle pitch="-5" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle" wp="1"/>
       <deroute block="Standby"/>
     </block>
     <block name="Route 1-2">
@@ -112,10 +112,10 @@
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="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 > estimator_z" deroute="flare"/>
+      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
@@ -155,11 +155,11 @@
       <go from="2" hmode="route" wp="STDBY"/>
     </block>
     <block name="Fly in Square">
-      <exception cond="! InsideSquare(estimator_x, estimator_y)" deroute="Come back wp 1"/>
+      <exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
       <attitude alt="ground_alt+75" roll="0" vmode="alt"/>
     </block>
     <block name="Come back wp 1">
-      <exception cond="InsideSquare(estimator_x, estimator_y)" deroute="Fly in Square"/>
+      <exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
       <go wp="1"/>
       <deroute block="Fly in Square"/>
     </block>

diff --git a/conf/flight_plans/corsica.xml b/conf/flight_plans/corsica.xml
@@ -33,7 +33,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="estimator_z > ground_alt+25" deroute="Standby Menton"/>
+      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby Menton"/>
       <set value="0" var="kill_throttle"/>
       <set value="0" var="estimator_flight_time"/>
       <go throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -63,10 +63,10 @@
     <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(estimator_z - WaypointAlt(WP__BASELEG)))" 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 > estimator_z" deroute="flare"/>
+      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">

diff --git a/conf/flight_plans/creidlitz.xml b/conf/flight_plans/creidlitz.xml
@@ -17,7 +17,7 @@
     <waypoint name="CLIMB" x="-102.3" y="-129.0"/>
   </waypoints>
   <exceptions>
-    <exception cond="estimator_z > 3400" deroute="Standby"/>
+    <exception cond="GetPosAlt() > 3400" deroute="Standby"/>
     <exception cond="datalink_time > 30" deroute="Standby"/>
   </exceptions>
   <blocks>
@@ -34,7 +34,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
       <set value="0" var="kill_throttle"/>
       <set value="0" var="estimator_flight_time"/>
       <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -46,7 +46,7 @@
       <circle radius="nav_radius" wp="PROFILE"/>
     </block>
     <block name="profile_down" strip_button="Profile Down" strip_icon="down_profile.png">
-      <circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(ground_alt+150 > estimator_z)" vmode="throttle" wp="PROFILE"/>
+      <circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(ground_alt+150 > GetPosAlt())" vmode="throttle" wp="PROFILE"/>
       <deroute block="Standby"/>
     </block>
     <block name="MOB" strip_button="Turn around here" strip_icon="mob.png">

diff --git a/conf/flight_plans/form_follow.xml b/conf/flight_plans/form_follow.xml
@@ -35,8 +35,8 @@
     </block>
     <block name="land"> <!-- basic landing function out of formation -->
       <call fun="stop_formation()"/>
-      <exception cond="(GROUND_ALT+10> estimator_z)" deroute="stop"/>
-      <circle radius="50" until="225 > estimator_z" wp="IAF"/>
+      <exception cond="(GROUND_ALT+10> GetPosAlt())" deroute="stop"/>
+      <circle radius="50" until="225 > GetPosAlt()" wp="IAF"/>
       <go alt="215" wp="AF"/>
       <go from="AF" hmode="route" vmode="glide" wp="RWAY"/>
     </block>

diff --git a/conf/flight_plans/form_leader.xml b/conf/flight_plans/form_leader.xml
@@ -45,8 +45,8 @@
       <call fun="stop_formation()"/>
     </block>
     <block name="land"> <!-- basic landing function out of formation -->
-      <exception cond="(GROUND_ALT+10> estimator_z)" deroute="stop"/>
-      <circle radius="50" until="WaypointAlt(WP_IAF) > estimator_z" wp="IAF"/>
+      <exception cond="(GROUND_ALT+10> GetPosAlt())" deroute="stop"/>
+      <circle radius="50" until="WaypointAlt(WP_IAF) > GetPosAlt()" wp="IAF"/>
       <go alt="WaypointAlt(WP_AF)" wp="AF"/>
       <go from="AF" hmode="route" vmode="glide" wp="RWAY"/>
     </block>

diff --git a/conf/flight_plans/fp_tp_auto.xml b/conf/flight_plans/fp_tp_auto.xml
@@ -44,7 +44,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
-      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
       <set value="0" var="kill_throttle"/>
       <go wp="CLIMB"/>
     </block>
@@ -65,19 +65,19 @@
       <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
     </block>
     <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
+      <circle pitch="10" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="throttle" wp="1"/>
     </block>
     <block name="Climb 0m/s">
       <circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb 1m/s">
-      <circle climb="1" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="1" radius="50+(GetPosAlt()-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
+      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="climb" wp="1"/>
     </block>
     <block name="Descent 0% throttle">
-      <circle pitch="-5" radius="50+(estimator_z-ground_alt)/2" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
+      <circle pitch="-5" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle" wp="1"/>
       <deroute block="Standby"/>
     </block>
     <block name="Route 1-2">
@@ -111,10 +111,10 @@
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="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 > estimator_z" deroute="flare"/>
+      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">

diff --git a/conf/flight_plans/generic.xml b/conf/flight_plans/generic.xml
@@ -24,13 +24,13 @@
       <circle radius="-75" wp="HOME"/>
     </block>
     <block name="climb 75">
-      <circle radius="50+(estimator_z-ground_alt)/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10>PowerVoltage()"/>
+      <circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10>PowerVoltage()"/>
     </block>
     <block name="stack 1">
-      <circle radius="estimator_z/2" wp="1"/>
+      <circle radius="GetPosAlt()/2" wp="1"/>
     </block>
     <block name="descent 0" strip_button="Descent">
-      <circle radius="estimator_z/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle"/>
+      <circle radius="GetPosAlt()/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle"/>
     </block>
     <block name="route12">
       <go approaching_time="0" from="1" hmode="route" wp="2"/>

diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml
@@ -55,7 +55,7 @@
       <set value="TRUE" var="h_ctl_disabled"/>
       <set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
       <set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
-      <while cond="estimator_z > ground_alt + 220"/>
+      <while cond="GetPosAlt() > ground_alt + 220"/>
       <set value="0" var="h_ctl_aileron_setpoint"/>
       <set value="0" var="h_ctl_elevator_setpoint"/>
     </block>
@@ -77,10 +77,10 @@
     <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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
+      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
@@ -114,7 +114,7 @@
     <!--block NAME="roll" strip_button="Roll">
      <set value="TRUE" var="h_ctl_disabled"/>
      <set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
-     <while cond="3.> stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
+     <while cond="3.> stage_time && (stateGetNedToBodyEulers_f()->phi > 0 || -M_PI_2 > stateGetNedToBodyEulers_f()->phi)"/>
      <set value="FALSE" var="h_ctl_disabled"/>
      <return/>
     </block-->

diff --git a/conf/flight_plans/grosslobke_kreise.xml b/conf/flight_plans/grosslobke_kreise.xml
@@ -43,7 +43,7 @@
     <block NAME="roll" strip_button="Roll">
      <set value="TRUE" var="h_ctl_disabled"/>
      <set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
-     <while cond="3.> stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
+     <while cond="3.> stage_time && (stateGetNedToBodyEulers_f()->phi > 0 || -M_PI_2 > stateGetNedToBodyEulers_f()->phi)"/>
      <set value="FALSE" var="h_ctl_disabled"/>
      <return/>
     </block>