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[IMAV] FP
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@dewagter
dewagter committed Sep 15, 2015
1 parent 16c5825 commit 3ec6709
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Showing 4 changed files with 85 additions and 79 deletions.
3 changes: 3 additions & 0 deletions conf/airframes/CDW/bebop.xml
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Expand Up @@ -53,6 +53,9 @@
<load name="nav_survey_rectangle_rotorcraft.xml">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load>
<load name="nav_survey_poly_rotorcraft.xml">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load>
<load name="digital_cam_video.xml">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
</load>
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2 changes: 1 addition & 1 deletion conf/airframes/CDW/conf.xml
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Expand Up @@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.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/cv_blob_locator.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/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft
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122 changes: 58 additions & 64 deletions conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
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@@ -1,77 +1,71 @@
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="30" ground_alt="0" lat0="50.789517" lon0="6.047089" max_dist_from_home="400" name="IMAV2015_competition_outdoor" security_height="2">
<flight_plan alt="30" ground_alt="0" lat0="50.788595" lon0="6.04692" max_dist_from_home="500" name="IMAV2015_competition_outdoor" security_height="2">
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/>
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
<waypoint lat="50.791905" lon="6.050280" name="raceA"/>
<waypoint lat="50.790329" lon="6.047711" name="raceB"/>
<waypoint lat="50.789794" lon="6.047433" name="water_gather"/>
<waypoint lat="50.788935" lon="6.04677" name="water_drop"/>
<waypoint lat="50.788882" lon="6.04664" name="buidling"/>
<waypoint lat="50.788862" lon="6.04662" name="window_enter"/>
<waypoint lat="50.788788" lon="6.046509" name="release_zone_1"/>
<waypoint lat="50.788923" lon="6.046411" name="release_zone_2"/>
<waypoint lat="50.788977" lon="6.046422" name="release_zone_3"/>
<waypoint lat="50.789517" lon="6.047089" name="field_center"/>
<waypoint lat="50.788867" lon="6.047097" name="landing"/>
<waypoint lat="50.788867" lon="6.047097" name="take_off"/>
<waypoint lat="50.788917" lon="6.047113" name="corner_e"/>
<waypoint lat="50.788615" lon="6.046760" name="corner_s"/>
<waypoint lat="50.788992" lon="6.045993" name="corner_w"/>
<waypoint lat="50.789323" lon="6.04633" name="corner_n"/>
<waypoint lat="50.790144" lon="6.046879" name="green1A"/>
<waypoint lat="50.789748" lon="6.047844" name="green1B"/>
<waypoint lat="50.789009" lon="6.046983" name="green1C"/>
<waypoint lat="50.788901" lon="6.047261" name="green1D"/>
<waypoint lat="50.788562" lon="6.046819" name="green1E"/>
<waypoint lat="50.789133" lon="6.045664" name="green1F"/>
<waypoint lat="50.792148" lon="6.050254" name="green2A"/>
<waypoint lat="50.791919" lon="6.050600" name="green2B"/>
<waypoint lat="50.790328" lon="6.047809" name="green2C"/>
<waypoint lat="50.790463" lon="6.047445" name="green2D"/>
<waypoint lat="50.792258" lon="6.050243" name="red1"/>
<waypoint lat="50.791936" lon="6.050774" name="red2"/>
<waypoint lat="50.790049" lon="6.047459" name="red3"/>
<waypoint lat="50.789813" lon="6.047994" name="red4"/>
<waypoint lat="50.788911" lon="6.047371" name="red5"/>
<waypoint lat="50.788499" lon="6.046839" name="red6"/>
<waypoint lat="50.789122" lon="6.045567" name="red7"/>
<waypoint lat="50.790228" lon="6.046823" name="red8"/>
<waypoint name="p1" x="-3.2" y="17.7"/>
<waypoint name="p2" x="14.1" y="-12.3"/>
<waypoint name="p3" x="16.7" y="-19.6"/>
<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 height="30" name="S1" x="50.0" y="-49.8"/>
<waypoint height="30" name="S2" x="-19.0" y="11.8"/>
<waypoint name="HOME" x="0.0" y=".0"/>
<waypoint name="CLIMB" x="-7.6" y="15.4"/>
<waypoint name="STDBY" x="-3.7" y="24.0"/>
<waypoint lat="50.790483" lon="6.047899" name="raceA"/>
<waypoint lat="50.791800" lon="6.050200" name="raceB"/>
<waypoint lat="50.789794" lon="6.047431" name="WG"/>
<waypoint lat="50.788923" lon="6.046754" name="WD"/>
<waypoint lat="50.788761" lon="6.046508" name="RZ1"/>
<waypoint lat="50.788912" lon="6.046406" name="RZ2"/>
<waypoint lat="50.788972" lon="6.046423" name="RZ3"/>
<waypoint lat="50.789522" lon="6.047118" name="FC"/>
<waypoint lat="50.788917" lon="6.047113" name="S1"/>
<waypoint lat="50.788597" lon="6.046721" name="S2"/>
<waypoint lat="50.788973" lon="6.045944" name="S3"/>
<waypoint lat="50.789323" lon="6.046330" name="S4"/>
<waypoint lat="50.790144" lon="6.046879" name="_green1A"/>
<waypoint lat="50.789748" lon="6.047844" name="_green1B"/>
<waypoint lat="50.789058" lon="6.047072" name="_green1C"/>
<waypoint lat="50.788919" lon="6.047391" name="_green1D"/>
<waypoint lat="50.788477" lon="6.046880" name="_green1E"/>
<waypoint lat="50.789113" lon="6.045554" name="_green1F"/>
<waypoint lat="50.792252" lon="6.050405" name="_green2A"/>
<waypoint lat="50.791915" lon="6.050962" name="_green2B"/>
<waypoint lat="50.790077" lon="6.047761" name="_green2C"/>
<waypoint lat="50.790426" lon="6.047251" name="_green2D"/>
<waypoint lat="50.792552" lon="6.050093" name="_red1"/>
<waypoint lat="50.791882" lon="6.051268" name="_red2"/>
<waypoint lat="50.789988" lon="6.047834" name="_red3"/>
<waypoint lat="50.789781" lon="6.048204" name="_red4"/>
<waypoint lat="50.788865" lon="6.047626" name="_red5"/>
<waypoint lat="50.788209" lon="6.046744" name="_red6"/>
<waypoint lat="50.789046" lon="6.045032" name="_red7"/>
<waypoint lat="50.790416" lon="6.046338" name="_red8"/>
<waypoint name="p1" x="77.2" y="199.5"/>
<waypoint name="p2" x="70.7" y="206.8"/>
<waypoint name="p3" x="246.1" y="353.6"/>
<waypoint name="p4" x="252.3" y="347.2"/>
<waypoint name="CAM" x="27.5" y="95.0"/>
<waypoint lat="50.788731" lon="6.046967" name="TD"/>
</waypoints>
<sectors>
<sector color="red" name="RED">
<corner name="red1"/>
<corner name="red2"/>
<corner name="red3"/>
<corner name="red4"/>
<corner name="red5"/>
<corner name="red6"/>
<corner name="red7"/>
<corner name="red8"/>
<corner name="_red1"/>
<corner name="_red2"/>
<corner name="_red3"/>
<corner name="_red4"/>
<corner name="_red5"/>
<corner name="_red6"/>
<corner name="_red7"/>
<corner name="_red8"/>
</sector>
<sector color="green" name="GREEN1">
<corner name="green1A"/>
<corner name="green1B"/>
<corner name="green1C"/>
<corner name="green1D"/>
<corner name="green1E"/>
<corner name="green1F"/>
<corner name="_green1A"/>
<corner name="_green1B"/>
<corner name="_green1C"/>
<corner name="_green1D"/>
<corner name="_green1E"/>
<corner name="_green1F"/>
</sector>
<sector color="green" name="GREEN2">
<corner name="green2A"/>
<corner name="green2B"/>
<corner name="green2C"/>
<corner name="green2D"/>
<corner name="_green2A"/>
<corner name="_green2B"/>
<corner name="_green2C"/>
<corner name="_green2D"/>
</sector>
</sectors>
<includes>
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37 changes: 23 additions & 14 deletions conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
View file
Expand Up @@ -39,11 +39,19 @@
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
</block>
<block name="LookRobot" strip_button="LookRobot" strip_icon="home.png">
<stay wp="FC"/>
</block>
<block name="visualflare">
<exception cond="NavDetectGround()" deroute="holding_point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="CAM"/>
</block>
<block name="stay_p1">
<stay wp="p1"/>
</block>
<block name="go_p2">
<call fun="nav_set_heading_deg(90)"/>
<go wp="p2"/>
<deroute block="stay_p1"/>
</block>
Expand All @@ -53,11 +61,17 @@
<go from="p2" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
</block>
<block name="route">
<go from="p1" hmode="route" wp="p3"/>
<block name="race">
<go from="p1" hmode="route" wp="p2"/>
<go from="p2" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
<deroute block="race"/>
</block>
<block name="raceline">
<go from="raceA" hmode="route" wp="raceB"/>
<go from="raceB" hmode="route" wp="raceA"/>
<deroute block="raceline"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 NS" strip_button="Svy-NS" strip_icon="survey.png">
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
Expand All @@ -67,26 +81,21 @@
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, WE)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey Poly" strip_button="Svy-P">
<call fun="nav_survey_poly_setup_towards(WP_corner_e, 4, sweep, WP_corner_s)"/>
<deroute block="Survey Poly RUN"/>
</block>
<block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
<exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
</block>
<block group="extra_pattern" name="Survey Poly" strip_button="Svy-P">
<call fun="nav_survey_poly_setup_towards(WP_S1, 4, sweep, WP_S4)"/>
<deroute block="Survey Poly RUN"/>
</block>
<block group="extra_pattern" name="Survey Poly RUN" strip_button="Svy-P CONT">
<exception cond="PolySurveySweepNum >= 10" deroute="Standby"/>
<call fun="nav_survey_poly_run()"/>
</block>
<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
<block name="circle CV" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
<circle radius="nav_radius" wp="CAM"/>
</block>
<block name="race">
<go from="raceA" hmode="route" wp="raceB"/>
<go from="raceB" hmode="route" wp="raceA"/>
<deroute block="Standby"/>
</block>
<block name="land_here" strip_button="Land Here" strip_icon="land-right.png">
<call fun="NavSetWaypointHere(WP_TD)"/>
</block>
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