[Paparazzi-devel] basic and versatile flight plan questions

[Tilman Baumann]

First, I think I have a pretty nice improvement to the basic flight plan 
(versatile is the same here)

My issue has been that my actual Touchdown position in Land depends very 
much on the approach altitude.
The flight plan calculates the baseleg circle but does nothing to lower 
the approach.

I tested this in the sim and it works quite nice.
The plane enters the baseleg circle, but instead of exiting the circle 
directly towards AF it circles down to a altitude of 20m. It will circle 
until 30m are achieved and then exit the circle towards AF.
This way a landing can be initialized at any time from any hight. (If 
20m is a good choice is up to you. I would not expect any higher 
structures around a landing site)

    <block name="land">
      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, 
nav_radius)"/>
      <circle radius="nav_radius" until="And(NavCircleCount() > 0.5, 
ground_alt + 30 > GetPosAlt())" wp="_BASELEG" alt="ground_alt + 20"/>
      <circle radius="nav_radius" 
until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 
10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
    </block>

The next thing is takeoff.
I have only tested it in versatile. It works in simulator, but in 
practice it climbs very little. I actually flew in a low tree when I 
launched in AUTO2.
I don't quite understand how the climb is done in versatile. I suppose 
the only incentive to climb is the hight of the CLIMB waypoint. And it 
does not seem to climb very aggressive.

I have not tested AUTO2 launch with basic. But I can see that it has a 
very different approach to this. There a pitch is set. Which seems quite 
straight forward.
I wonder, why the different ways? And which is actually better?
I feel a bit apprehensive to toss my plane on the ground at full 
throttle again. :)

Cheers
 Tilman