[Paparazzi-devel] flight plan's block change through GCS buttons question supplement(flight plan)

[chris]

Just for reference i include my flight plan.

<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="50" ground_alt="7" lat0="37.9414" lon0="23.6794" 
max_dist_from_home="250" name="SEF_Bomb" qfu="30" security_height="30">
 <header>
#include "datalink.h"
#include "bomb.h"
#include "OSAMNav.h"
</header>
 <waypoints>
   <waypoint name="HOME" x="0" y="0"/>
   <waypoint alt="30.0" name="AF" x="36.3" y="-86.9"/>
   <waypoint alt="7.0" name="TD" x="55.5" y="6.7"/>
   <waypoint alt="30.0" name="AF_NORTH" x="69.8" y="88.2"/>
   <waypoint name="BASELEG_NORTH" x="19.2" y="103.0"/>
   <waypoint name="BASELEG" x="-12.8" y="-66.9"/>
   <waypoint name="START" x="38.9" y="-74.6"/>
   <waypoint name="RELEASE" x="49.6" y="-22.8"/>
   <waypoint alt="7.0" name="TARGET" x="52.8" y="-5.4"/>
   <waypoint name="CLIMB" x="62.2" y="45.7"/>
   <waypoint alt="50.0" name="S1" x="-95.7" y="-57.9"/>
   <waypoint alt="50.0" name="S2" x="-45.8" y="126.7"/>
   <waypoint alt="50.0" name="S3" x="166.3" y="66.9"/>
   <waypoint alt="50.0" name="S4" x="88.8" y="-106.0"/>
 </waypoints>
 <sectors>
   <sector name="PolySector">
     <corner name="S1"/>
     <corner name="S2"/>
     <corner name="S3"/>
     <corner name="S4"/>
   </sector>
 </sectors>
 <exceptions>
<!--    <exception cond="9.7 > PowerVoltage()" deroute="standby"/>  -->
 </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()"/>
     <call fun="NavSetWaypointHere(WP_HOME)"/>
   </block>
   <block name="Holding point">
     <set value="1" var="kill_throttle"/>
     <attitude roll="0" throttle="0" until="estimator_hspeed_mod > 3" 
vmode="throttle"/>
     <set value="0" var="kill_throttle"/>
     <deroute block="standby"/>
   </block>
   <block name="standby" strip_button="standby" strip_icon="home.png">
     <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <circle alt="ground_alt+30" radius="nav_radius" wp="HOME"/>
   </block>

   <block name="Poly Survey" strip_button="Survey" strip_icon="survey.png">
     <exception cond="PolySurveySweepNum >= 4" deroute="standby"/>
     <call fun="InitializePolygonSurvey(WP_S1, 4, 50, 75)"/>
     <call fun="PolygonSurvey()"/>
   </block>

   <block name="Bomb Right" strip_button="Bomb R" strip_icon="kill.png">
     <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="bomb"/>
   </block>
   <block name="Bomb Left" strip_button="Bomb L"strip_icon="kill.png">
     <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="bomb"/>
   </block>
   <block name="bomb">
     <call fun="BombComputeApproach(WP_TARGET, WP_START, nav_radius)"/>
     <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
wp="BASELEG"/>
     <circle radius="nav_radius" 
until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>

   </block>
   <block name="align">
     <exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
     <go approaching_time="bomb_trigger_delay" from="START" 
hmode="route" wp="RELEASE"/>
   </block>
   <block name="shoot">
   <set value="BombShoot()" var="unit"/>
<!--      <set value="MIN_PPRZ" 
var="ap_state->commands[COMMAND_HATCH]"/>  -->
<!--      <set value="MAX_PPRZ" 
var="ap_state->commands[COMMAND_HATCH]"/> -->
     <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB" 
alt="ground_alt+100" />
     <set value="BombCloseHatch()" var="unit"/>
     <deroute block="standby"/>
   </block>
   <block name="Land Right AF-TD" strip_button="Land (North wind)" 
strip_icon="land-right.png">
     <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="land"/>
   </block>
   <block name="Land Left AF-TD" strip_button="Land (North wind)" 
strip_icon="land-left.png">
     <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="land"/>
   </block>
   <block name="land">
     <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, 
nav_radius)"/>
     <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
wp="BASELEG"/>
     <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" 
var="v_ctl_auto_throttle_cruise_throttle"/>
     <circle alt="ground_alt+20" radius="nav_radius" 
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > 
fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
   </block>
   <block name="final">
     <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
     <go from="AF" hmode="route" vmode="glide" wp="TD"/>
   </block>
   <block name="flare">
     <go approaching_time="0" from="AF" hmode="route" throttle="0.0" 
vmode="throttle" wp="TD"/>
     <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
   </block>
   <block name="Land Right AF_NORTH-TD" strip_button="Land (South wind) 
" strip_icon="land-right.png">
     <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="land_North"/>
   </block>
   <block name="Land Left AF_NORTH-TD" strip_button="Land (South wind)" 
strip_icon="land-left.png">
     <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="land_North"/>
   </block>
   <block name="land_North">
     <call fun="nav_compute_baseleg(WP_AF_NORTH, WP_TD, 
WP_BASELEG_NORTH, nav_radius)"/>
     <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
wp="BASELEG_NORTH"/>
     <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" 
var="v_ctl_auto_throttle_cruise_throttle"/>
     <circle alt="ground_alt+20" radius="nav_radius" 
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > 
fabs(estimator_z - WaypointAlt(WP_BASELEG_NORTH))" wp="BASELEG_NORTH"/>
   </block>
   <block name="final_North">
     <exception cond="ground_alt + 10 > estimator_z" 
deroute="flare_North"/>
     <go from="AF_NORTH" hmode="route" vmode="glide" wp="TD"/>
   </block>
   <block name="flare_North">
     <go approaching_time="0" from="AF_NORTH" hmode="route" 
throttle="0.0" vmode="throttle" wp="TD"/>
     <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
   </block>
 </blocks>
</flight_plan>