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[airframe] update airframe using px4flow in place of the GPS
just sending the values on telemetry, not connected to the flight control
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,33 @@ | ||
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd"> | ||
|
||
<flight_plan alt="1.5" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Vision" security_height="0.5"> | ||
<waypoints> | ||
<waypoint name="HOME" x="0.0" y="0.0"/> | ||
</waypoints> | ||
<blocks> | ||
<block name="Geo init"> | ||
<while cond="LessThan(NavBlockTime(), 3)"/> | ||
<call fun="NavSetGroundReferenceHere()"/> | ||
</block> | ||
<block name="Holding point"> | ||
<!--exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(1.)" deroute="Standby"/--> | ||
<call fun="NavKillThrottle()"/> | ||
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/> | ||
</block> | ||
<block name="Start Engine"> | ||
<call fun="NavResurrect()"/> | ||
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/> | ||
</block> | ||
<block name="Standby" strip_button="Standby" strip_icon="home.png"> | ||
<stay wp="HOME"/> | ||
</block> | ||
<block name="land"> | ||
<go wp="HOME"/> | ||
</block> | ||
<block name="flare"> | ||
<exception cond="NavDetectGround()" deroute="Holding point"/> | ||
<call fun="NavStartDetectGround()"/> | ||
<stay climb="-0.8" vmode="climb" wp="HOME"/> | ||
</block> | ||
</blocks> | ||
</flight_plan> |
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