Re: [Paparazzi-devel] Dropping items on target (reply)

[Pascal Brisset]

Hi,

note that the equations hidden behind the sw/airborne/bomb.c are 
detailed in the MAV06 paper:

http://www.recherche.enac.fr/paparazzi/papers_2006/mav06_paparazzi.pdf

--Pascal

chris wrote:
> Hi.
> I use the integrated functions i found in one flight plan and then i 
> experimented a bit.
> Here is the code i use and so far it works ok.
> Also have a look to the "slayer_training.xml" flight plan.
>
>    <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"/>      <go approaching_time="0" 
> from="RELEASE" hmode="route" wp="CLIMB" alt="ground_alt+100" />
>      <set value="BombCloseHatch()" var="unit"/>      <deroute 
> block="standby"/>
>    </block>
>
>
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