Split into 4 flightplans

paparazzi · Dec 19, 2023 · 21228d9 · 21228d9
1 parent 19b7e96
commit 21228d9
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Showing 6 changed files with 147 additions and 169 deletions.
diff --git a/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml
diff --git a/conf/flight_plans/tudelft/rotating_wing_EHR8.xml b/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
@@ -0,0 +1,50 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+<flight_plan alt="70" ground_alt="0" alt="119" lat0="52.9262279" lon0="4.4986184" max_dist_from_home="20500" name="Rotating Wing EHR8" security_height="2">
+  <header/>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="CLIMB" x="300." y="70"/>
+    <waypoint name="trans" x="300." y="100."/>
+    <waypoint name="decel" x="300." y="110."/>
+    <waypoint name="begin_trans" x="300." y="90."/>
+    <waypoint name="end_trans" x="300." y="120."/>
+    <waypoint name="STDBY" x="60" y="20"/>
+    <waypoint name="p1" x="65" y="75"/>
+    <waypoint name="p2" x="200" y="120"/>
+    <waypoint name="p3" x="250" y="-30"/>
+    <waypoint name="p4" x="120" y="-75"/>
+    <waypoint name="circ" x="160" y="25"/>
+    <waypoint name="TD" x="10" y="-1"/>
+    <waypoint name="APP" x="70" y="-25"/>
+    <waypoint name="FOLLOW" x="300" y="80"/>
+    <!-- EHR8 -->
+    <waypoint name="C1" lat="52.96166667" lon="4.740277778"/>
+    <waypoint name="C2" lat="52.86666667" lon="4.716666667"/>
+    <waypoint name="C3" lat="52.78333333" lon="4.683333333"/>
+    <waypoint name="C4" lat="52.75" lon="4.533333333"/>
+    <waypoint name="C5" lat="52.775" lon="4.433333333"/>
+    <waypoint name="C6" lat="52.81666667" lon="4.35"/>
+    <waypoint name="C7" lat="53.08333333" lon="4.35"/>
+    <waypoint name="C8" lat="53.10277778" lon="4.515555556"/>
+    <waypoint name="C9" lat="53.04972222" lon="4.679444444"/>
+  </waypoints>
+  <sectors>
+    <sector color="red" name="Flyzone">
+      <corner name="C1"/>
+      <corner name="C2"/>
+      <corner name="C3"/>
+      <corner name="C4"/>
+      <corner name="C5"/>
+      <corner name="C6"/>
+      <corner name="C7"/>
+      <corner name="C8"/>
+      <corner name="C9"/>
+    </sector>
+  </sectors>
+  <includes>
+    <include name="RW" procedure="rotating_wing_include.xml"/>
+  </includes>
+  <blocks>
+    <block name="Dummy"/>
+  </blocks>
+</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
@@ -9,10 +9,10 @@
     <waypoint name="begin_trans" x="300." y="90."/>
     <waypoint name="end_trans" x="300." y="120."/>
     <waypoint name="STDBY" x="60" y="20"/>
-    <waypoint name="p1" x="120" y="-75"/>
-    <waypoint name="p2" x="65" y="75"/>
-    <waypoint name="p3" x="200" y="120"/>
-    <waypoint name="p4" x="250" y="-30"/>
+    <waypoint name="p1" x="65" y="75"/>
+    <waypoint name="p2" x="200" y="120"/>
+    <waypoint name="p3" x="250" y="-30"/>
+    <waypoint name="p4" x="120" y="-75"/>
     <waypoint name="circ" x="160" y="25"/>
     <waypoint name="TD" x="10" y="-1"/>
     <waypoint name="APP" x="70" y="-25"/>

diff --git a/conf/flight_plans/tudelft/rotating_wing_terschelling.xml b/conf/flight_plans/tudelft/rotating_wing_terschelling.xml
@@ -0,0 +1,50 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+<flight_plan alt="70" ground_alt="0" lat0="53.3988083" lon0="5.2487480" max_dist_from_home="2000" name="Rotating Wing Terschelling" security_height="2">
+  <header/>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="CLIMB" x="300." y="70"/>
+    <waypoint name="trans" x="300." y="100."/>
+    <waypoint name="decel" x="300." y="110."/>
+    <waypoint name="begin_trans" x="300." y="90."/>
+    <waypoint name="end_trans" x="300." y="120."/>
+    <waypoint name="STDBY" x="-60" y="5"/>
+    <waypoint name="p1" x="-65" y="80"/>
+    <waypoint name="p2" x="-120" y="480"/>
+    <waypoint name="p3" x="-400" y="400"/>
+    <waypoint name="p4" x="-150" y="70"/>
+    <waypoint name="circ" x="160" y="25"/>
+    <waypoint name="TD" x="10" y="-1"/>
+    <waypoint name="APP" x="-200" y="150"/>
+    <waypoint name="FOLLOW" x="300" y="80"/>
+    <!-- Terschelling -->
+    <waypoint lat="53.403590" lon="5.214102" name="C1"/>
+    <waypoint lat="53.399129" lon="5.219031" name="C2"/>
+    <waypoint lat="53.391752" lon="5.234877" name="C3"/>
+    <waypoint lat="53.399786" lon="5.273960" name="C4"/>
+    <waypoint lat="53.416200" lon="5.265441" name="C5"/>
+    <waypoint lat="53.424575" lon="5.252654" name="C6"/>
+    <waypoint lat="53.422246" lon="5.233265" name="C7"/>
+    <waypoint lat="53.418859" lon="5.216361" name="C8"/>
+    <waypoint lat="53.411762" lon="5.208801" name="C9"/>
+  </waypoints>
+  <sectors>
+    <sector color="red" name="Flyzone">
+      <corner name="C1"/>
+      <corner name="C2"/>
+      <corner name="C3"/>
+      <corner name="C4"/>
+      <corner name="C5"/>
+      <corner name="C6"/>
+      <corner name="C7"/>
+      <corner name="C8"/>
+      <corner name="C9"/>
+    </sector>
+  </sectors>
+  <includes>
+    <include name="RW" procedure="rotating_wing_include.xml"/>
+  </includes>
+  <blocks>
+    <block name="Dummy"/>
+  </blocks>
+</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotating_wing_tharde.xml b/conf/flight_plans/tudelft/rotating_wing_tharde.xml
@@ -0,0 +1,42 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+<flight_plan alt="180" ground_alt="60" lat0="52.3931434" lon0="5.9205099" max_dist_from_home="5000" name="Rotating Wing 't Harde" security_height="2">
+  <header/>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="CLIMB" x="300." y="70"/>
+    <waypoint name="trans" x="300." y="100."/>
+    <waypoint name="decel" x="300." y="110."/>
+    <waypoint name="begin_trans" x="300." y="90."/>
+    <waypoint name="end_trans" x="300." y="120."/>
+    <waypoint name="STDBY" x="60" y="20"/>
+    <waypoint name="p1" x="65" y="75"/>
+    <waypoint name="p2" x="200" y="120"/>
+    <waypoint name="p3" x="250" y="-30"/>
+    <waypoint name="p4" x="120" y="-75"/>
+    <waypoint name="circ" x="160" y="25"/>
+    <waypoint name="TD" x="10" y="-1"/>
+    <waypoint name="APP" x="70" y="-25"/>
+    <waypoint name="FOLLOW" x="300" y="80"/>
+    <!-- t'Harde -->
+    <waypoint lat="52.4034734" lon="5.9067552" name="C1"/>
+    <waypoint lat="52.3878517" lon="5.9212118" name="C2"/>
+    <waypoint lat="52.4054122" lon="5.9581765" name="C3"/>
+    <waypoint lat="52.4179727" lon="6.0083051" name="C4"/>
+    <waypoint lat="52.4420912" lon="5.9871178" name="C5"/>
+  </waypoints>
+  <sectors>
+    <sector color="red" name="Flyzone">
+      <corner name="C1"/>
+      <corner name="C2"/>
+      <corner name="C3"/>
+      <corner name="C4"/>
+      <corner name="C5"/>
+    </sector>
+  </sectors>
+  <includes>
+    <include name="RW" procedure="rotating_wing_include.xml"/>
+  </includes>
+  <blocks>
+    <block name="Dummy"/>
+  </blocks>
+</flight_plan>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
@@ -590,7 +590,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
    gui_color="red"
   />
   <aircraft