[conf]flight plan

paparazzi · Sep 9, 2015 · 34707c4 · 34707c4
1 parent b0ab227
commit 34707c4
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Showing 5 changed files with 19 additions and 5 deletions.
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
@@ -50,6 +50,7 @@
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
     </load>
     <load name="video_exif.xml"/>
+    <load name="cv_colorfilter.xml"/>
   </modules>
 
   <commands>
@@ -188,13 +189,19 @@
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <!-- Good weather -->
     <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
     <define name="PGAIN" value="15"/>
     <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
+  <section name="NAVIGATION" prefix="NAV_">
+    <define name="CLIMB_VSPEED" value="2.5"/>
+    <define name="DESCEND_VSPEED" value="-1.0"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>

diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
@@ -55,6 +55,7 @@
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
     </load>
     <load name="video_exif.xml"/>
+    <load name="cv_colorfilter.xml"/>
   </modules>
 
   <commands>
@@ -214,13 +215,19 @@
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <!-- Good weather -->
     <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
     <define name="PGAIN" value="15"/>
     <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
+  <section name="NAVIGATION" prefix="NAV_">
+    <define name="CLIMB_VSPEED" value="2.5"/>
+    <define name="DESCEND_VSPEED" value="-1.0"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>

diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml modules/cv_colorfilter.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft

diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_antwerpen.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_antwerpen.xml
@@ -16,8 +16,8 @@
     <waypoint name="p4" x="-20.4" y="37.2"/>
     <waypoint name="CAM" x="-44.3" y="-9.5"/>
     <waypoint name="TD" x="-9.5" y="14.8"/>
-    <waypoint name="S1" height="20" x="-57.6" y="32.8"/>
-    <waypoint name="S2" height="20" x="17.3" y="19.4"/>
+    <waypoint name="S1" height="30" x="-57.6" y="32.8"/>
+    <waypoint name="S2" height="30" x="17.3" y="19.4"/>
   </waypoints>
   <blocks>
     <block name="Wait GPS">

diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_delft.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_delft.xml
@@ -16,8 +16,8 @@
     <waypoint name="p4" x="13.7" y="-40.7"/>
     <waypoint name="CAM" x="19.2" y="-55.4"/>
     <waypoint name="TD" x="5.6" y="-10.9"/>
-    <waypoint name="S1" height="20" x="50.0" y="-49.8"/>
-    <waypoint name="S2" height="20" x="-19.0" y="11.8"/>
+    <waypoint name="S1" height="30" x="50.0" y="-49.8"/>
+    <waypoint name="S2" height="30" x="-19.0" y="11.8"/>
   </waypoints>
   <blocks>
     <block name="Wait GPS">