first testflight with new flightplan success except wp stby sometimes…

… to low so set groundref here in takeoff need tesing

Conflicts:

	conf/airframes/BR/conf.xml

conf/airframes/BR/conf.xml

@@ -16,7 +16,7 @@
    airframe="airframes/BR/ladybird_kit_bart.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/ladylisa_from_hand.xml"
+   flight_plan="flight_plans/rotorcraft_basic_superbitrf_from_hand.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/superbitrf.xml"
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="blue"

conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml

@@ -61,17 +61,19 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
     <block name="Geo init">
       <while cond="LessThan(NavBlockTime(), 8)"/>
       <call fun="NavSetGroundReferenceHere()"/>
-      <!--<call fun="NavSetAltitudeReferenceHere()"/>-->
-    </block>
-    <block name="Holding point">
-      <call fun="NavKillThrottle()"/>
-      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+      <call fun="NavSetAltitudeReferenceHere()"/>
+      <call fun="NavSetWaypointHere(WP_HOME)"/>
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <call fun="NavSetWaypointHere(WP_STDBY)"/>
+      <call fun="NavSetWaypointHere(WP_TD)"/>
     </block>
     <block name="Start Engine">
       <call fun="NavResurrect()"/>
-      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time > 1"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <call fun="NavSetAltitudeReferenceHere()"/>
+      <call fun="NavSetWaypointHere(WP_STDBY)"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Standby"/>
       <set value="0" var="autopilot_flight_time"/>    
@@ -82,7 +84,7 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
 <!--Alternative <exception cond="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" deroute="A_to_B_and_back"/>-->
      <stay vmode="climb" climb="0.9" until="WaypointAlt(WP_STDBY) > stateGetPositionEnu_f()->z" wp="CLIMB"/>
      </block>
-    <block name="Standby" strip_button="Standby" strip_icon="home.png" pre_call="if(!InsideKill(GetPosX(), GetPosY())) NavKillThrottle();">
+    <block name="Standby" strip_button="Standby" strip_icon="home.png" pre_call="if(!InsideKill(GetPosX(), GetPosY())) NavKillThrottle()">
       <exception cond="block_time > 60" deroute="land"/>
       <go wp="STDBY"/>
       <stay wp="STDBY"/>
@@ -114,14 +116,21 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
     </block>
     <block name="land">
       <go wp="TD"/>
+      <exception cond="NavDetectGround()" deroute="landed"/>
+      <exception cond="!nav_is_in_flight()" deroute="Holding point"/>
+      <stay climb="-0.8" vmode="climb" wp="TD"/>
     </block>
     <block name="flare">
-      <exception cond="NavDetectGround()" deroute="Holding point"/>
-      <exception cond="!nav_is_in_flight()" deroute="landed"/>
+      <exception cond="NavDetectGround()" deroute="landed"/>
+      <exception cond="!nav_is_in_flight()" deroute="Holding point"/>
       <call fun="NavStartDetectGround()"/>
       <stay climb="-0.8" vmode="climb" wp="TD"/>
     </block>
     <block name="landed">
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time > 0.5"/>
+    </block>
+    <block name="Holding point">
+      <call fun="NavKillThrottle()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
     </block>
   </blocks>