[paparazzi-commits] [4469] Initial kalscott flightplan

[Anton K.]

Revision: 4469
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4469
Author:   antonk
Date:     2010-01-23 02:33:26 +0000 (Sat, 23 Jan 2010)
Log Message:
-----------
Initial kalscott flightplan

Added Paths:
-----------
    paparazzi3/trunk/conf/flight_plans/kalscott.xml

Added: paparazzi3/trunk/conf/flight_plans/kalscott.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/kalscott.xml                             
(rev 0)
+++ paparazzi3/trunk/conf/flight_plans/kalscott.xml     2010-01-23 02:33:26 UTC 
(rev 4469)
@@ -0,0 +1,62 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="100" ground_alt="0" lat0="43.46223" lon0="1.27289" 
max_dist_from_home="1500" name="Basic" security_height="25">
+  <header>
+#include "nav_line.h"
+#include "datalink.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="CIRCLE" x="49.5" y="100.1"/>
+    <waypoint name="1" x="10.1" y="189.9"/>
+    <waypoint name="2" x="132.3" y="139.1"/>
+    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
+  </waypoints>
+  <exceptions/>
+  <blocks>
+    <block name="Wait GPS">
+      <set value="1" var="kill_throttle"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+    </block>
+    <block name="Holding point">
+      <set value="1" var="kill_throttle"/>
+      <attitude roll="0" throttle="0" vmode="throttle"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" 
strip_icon="takeoff.png">
+      <exception cond="estimator_z > ground_alt+25" deroute="Circle"/>
+      <set value="0" var="kill_throttle"/>
+      <set value="0" var="estimator_flight_time"/>
+      <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
+    </block>
+    <block name="Circle" strip_button="Circle" strip_icon="home.png">
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" 
until="estimator_z > ground_alt+195"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" 
until="NavCircleCount() > 2"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" 
until="estimator_z > ground_alt+295"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" 
until="NavCircleCount() > 2"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+400" 
until="estimator_z > ground_alt+395"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+400" 
until="NavCircleCount() > 2"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" 
until="estimator_z > ground_alt+305"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" 
until="NavCircleCount() > 2"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" 
until="estimator_z > ground_alt+205"/>
+      <circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" 
until="NavCircleCount() > 2"/>
+      <deroute block="Circle"/>
+    </block>
+   <block name="Racetrack 1-2" strip_button="Racetrack (wp 1-2)" 
strip_icon="oval.png">
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" 
until="estimator_z > ground_alt+195"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" 
until="nav_oval_count > 2"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" 
until="estimator_z > ground_alt+295"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" 
until="nav_oval_count > 2"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+400" 
until="estimator_z > ground_alt+395"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+400" 
until="nav_oval_count > 2"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" 
until="estimator_z > ground_alt+305"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" 
until="nav_oval_count > 2"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" 
until="estimator_z > ground_alt+205"/>
+      <oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" 
until="nav_oval_count > 2"/>
+      <deroute block="Racetrack 1-2"/>
+    </block>
+  </blocks>
+</flight_plan>