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Re: [Paparazzi-devel] No throttle, any mode
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From: |
Gareth R |
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Subject: |
Re: [Paparazzi-devel] No throttle, any mode |
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Date: |
Fri, 17 Jul 2009 09:27:28 +0100 |
In Kill Mode, the throttle won't work. You need to ensure that
throttle_kill is set to 0 (you can either do this in a flight plan, or
manually from the mode tab of GCS).
--G
On Thu, 2009-07-16 at 23:53 +0200, Martin P wrote:
> Hi all,
>
> I have been searching the list archive about mayday, throttle, etc and found
> postings describing problems getting the trhottle in AUTO2. I am not yet as
> far as this.
>
> I did all the entries in the radio and airframe files and I am able to move
> ailerons, elevator and rudder in manual mode.
> For test, I attached a little servo to the throttle channel and hoped to be
> able to move it with the throttle stick on my RX. It does not work.
>
> When I look at the "commands" in the message tool, I see a change when I move
> the stick.
> When I look at the "actuators" in the message tool, I do not see a change
> when I move the stick.
> In the GCS, the throttle is 0% and the symbol is red,
>
> I also get a "mayday kill mode" in the GCS even though the voltage is above
> critical and low voltages. Sometimes I get to the "holding point" but in the
> moment I am not even able to go beyond "geo init" block (using a flight plan
> that is derived from funjet1) although the GPS has a fix and the aircraft
> symbol is shown in the map.
>
> Greetings, Martin
>
>
> PS: I attach the GCS output, radio, airframe and flightplan
> --------
>
> 23:05:26 MJ5, UNK
> 23:05:26 MJ5, mayday, kill mode
> 23:05:28 MJ5, AUTO2
> 23:05:29 MJ5, Wait GPS
> 23:21:06 MJ5, NOGPS
> 23:25:14 MJ5, Geo init
> 23:25:14 MJ5, AUTO2
> 23:25:15 MJ5, MANUAL
> 23:25:15 GPS acc: 56 m
> 23:25:17 GPS acc: 27 m
> 23:25:19 GPS acc: 21 m
> 23:25:21 MJ5, HOME
> 23:25:21 GPS acc: 19 m
> 23:25:23 GPS acc: 18 m
> 23:25:25 GPS acc: 17 m
> 23:25:27 GPS acc: 16 m
> 23:25:37 GPS acc: 15 m
> 23:31:21 GPS acc: 16 m
> 23:31:27 GPS acc: 15 m
> 23:42:39 GPS acc: 16 m
> 23:42:41 GPS acc: 18 m
> 23:42:45 GPS acc: 17 m
> 23:42:47 GPS acc: 15 m
>
> <!DOCTYPE radio SYSTEM "radio.dtd">
> <radio name="futaba-fx18" data_min="900" data_max="2100" sync_min ="5000"
> sync_max ="15000">
> <channel ctl="A" function="ROLL" min="1000" neutral="1498" max="2000"
> average="0"/>
> <channel ctl="B" function="PITCH" min="1000" neutral="1498" max="2000"
> average="0"/>
> <channel ctl="C" function="THROTTLE" min="1120" neutral="1120" max="2000"
> average="0"/>
> <channel ctl="D" function="YAW" min="1000" neutral="1498" max="2000"
> average="0"/>
> <channel ctl="E" function="MODE" min="2000" neutral="1500" max="1000"
> average="1"/> <!-- Top right switch -->
> <channel ctl="F" function="CALIB" min="2000" neutral="1500" max="1000"
> average="1"/> <!-- left bottom slider -->
> <!--channel ctl="G" function="GAIN1" min="2000" neutral="1498" max="1000"
> average="1"/--> <!-- center slider -->
> </radio>
>
>
> --------------------------airframe---------------------
> <!DOCTYPE airframe SYSTEM "airframe.dtd">
>
> <!-- Funjet Multiplex (http://www.multiplex-rc.de/)
> Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
> Tilted infrared sensor
> (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
> Radiotronix modem
> -->
>
> <airframe name="Funjet 1 Tiny 2.1">
>
> <!-- commands section -->
> <servos>
> <servo name="AILERON" no="0" min="1980" neutral="1515" max="1170"/>
> <servo name="ELEVATOR" no="2" min="1130" neutral="1500" max="1880"/>
> <servo name="MOTOR" no="3" min="2000" neutral="1000" max="1000"/>
> <servo name="RUDDER" no="4" min="1980" neutral="1515" max="1170"/>
> </servos>
>
> <commands>
> <axis name="ROLL" failsafe_value="0"/>
> <axis name="PITCH" failsafe_value="0"/>
> <axis name="THROTTLE" failsafe_value="0"/>
> <axis name="YAW" failsafe_value="0"/>
> </commands>
>
> <rc_commands>
> <set command="ROLL" value="@ROLL"/>
> <set command="PITCH" value="@PITCH"/>
> <set command="THROTTLE" value="@THROTTLE"/>
> <set command="YAW" value="@YAW"/>
> </rc_commands>
>
> <command_laws>
> <set servo="AILERON" value="@ROLL"/>
> <set servo="ELEVATOR" value="@PITCH"/>
> <set servo="MOTOR" value="@THROTTLE"/>
> <set servo="RUDDER" value="@YAW"/>
> </command_laws>
>
> <section name="AUTO1" prefix="AUTO1_">
> <define name="MAX_ROLL" value="0.85"/>
> <define name="MAX_PITCH" value="0.6"/>
> </section>
>
> <section name="adc" prefix="ADC_CHANNEL_">
> <define name="IR1" value="ADC_1"/>
> <define name="IR2" value="ADC_2"/>
> <define name="IR_TOP" value="ADC_0"/>
> <define name="IR_NB_SAMPLES" value="16"/>
>
> <define name="GYRO_ROLL" value="ADC_3"/>
> <define name="GYRO_NB_SAMPLES" value="16"/>
>
> </section>
>
> <section name="INFRARED" prefix="IR_">
> <define name="ADC_IR1_NEUTRAL" value="512"/>
> <define name="ADC_IR2_NEUTRAL" value="513"/>
> <define name="ADC_TOP_NEUTRAL" value="509"/>
>
> <define name="LATERAL_CORRECTION" value="1."/>
> <define name="LONGITUDINAL_CORRECTION" value="1."/>
> <define name="VERTICAL_CORRECTION" value="1.5"/>
>
> <define name="HORIZ_SENSOR_TILTED" value="1"/>
> <define name="IR2_SIGN" value="1"/>
> <define name="TOP_SIGN" value="-1"/>
>
> <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
> <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
>
> <define name="CORRECTION_UP" value="1."/>
> <define name="CORRECTION_DOWN" value="1."/>
> <define name="CORRECTION_LEFT" value="1."/>
> <define name="CORRECTION_RIGHT" value="1."/>
> </section>
>
> <section name="GYRO" prefix="GYRO_">
> <define name="ADC_ROLL_NEUTRAL" value="520"/>
> <define name="ADC_TEMP_NEUTRAL" value="476"/>
> <define name="ADC_TEMP_SLOPE" value="0"/>
> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
> <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
> <define name="ROLL_SCALE"
> value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
> unit="deg/s/adc_unit"/>
> <define name="ROLL_DIRECTION" value="-1."/>
> </section>
>
> <section name="BAT">
> <define name="MILLIAMP_AT_FULL_THROTTLE" value="28000" unit="mA" /><!--MP-->
> <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
>
> <define name="CATASTROPHIC_BAT_LEVEL" value="10.5" unit="V"/>
> <define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/><!--MP-->
> <define name="LOW_BAT_LEVEL" value="11.0" unit="V"/><!--MP-->
> <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/><!--MP-->
> </section>
>
> <section name="MISC">
> <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
> <define name="CARROT" value="5." unit="s"/>
> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
> <define name="CONTROL_RATE" value="60" unit="Hz"/>
> <!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
> <!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
>
> <define name="TRIGGER_DELAY" value="1."/>
> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
> <define name="MIN_CIRCLE_RADIUS" value="50."/>
> </section>
>
> <section name="VERTICAL CONTROL" prefix="V_CTL_">
>
> <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
> <!-- outer loop proportional gain -->
> <define name="ALTITUDE_PGAIN" value="-0.04"/>
> <!-- outer loop saturation -->
> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
>
> <!-- auto throttle inner loop -->
> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
> unit="%/(m/s)"/>
> <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
>
> <!-- auto pitch inner loop -->
> <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
> <define name="AUTO_PITCH_IGAIN" value="0.075"/>
> <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
>
> <define name="THROTTLE_SLEW" value="0.5"/>
>
> </section>
>
> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
> <define name="COURSE_PGAIN" value="-1.2"/>
>
> <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
> <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
>
> <define name="PITCH_PGAIN" value="-10000."/>
> <define name="PITCH_DGAIN" value="1.5"/>
>
> <define name="ELEVATOR_OF_ROLL" value="2500"/>
>
> <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
> <define name="ROLL_RATE_GAIN" value="-1500"/>
> </section>
>
> <section name="NAV">
> <define name="NAV_PITCH" value="0."/>
> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
> </section>
>
> <section name="AGGRESSIVE" prefix="AGR_">
> <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
> Aggressive Climb CANNOT BE ZERO!!-->
> <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
> Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
> <define name="CLIMB_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb
> -->
> <define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb
> -->
> <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
> Decent -->
> <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive
> Decent -->
> <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
> Altitude Error Equal to Start Altitude -->
> <define name="DESCENT_NAV_RATIO" value="1.0"/>
> </section>
>
>
> <section name="GYRO_GAINS">
> <define name="GYRO_MAX_RATE" value="200."/>
> <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
> <define name="ALT_ROLL__PGAIN" value="1.0"/>
> <define name="ROLL_RATE_PGAIN" value="1000.0"/>
> <define name="ROLL_RATE_IGAIN" value="0.0"/>
> <define name="ROLL_RATE_DGAIN" value="0.0"/>
> </section>
>
> <section name="FAILSAFE" prefix="FAILSAFE_">
> <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
> <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
> <define name="HOME_RADIUS" value="100" unit="m"/>
> </section>
>
> <!--
> <section name="DATALINK" prefix="DATALINK_">
> <define name="DEVICE_TYPE" value="XBEE"/>
> <define name="DEVICE_ADDRESS" value="...."/>
> </section>
> -->
>
> <section name="Digital camera telecommand">
> <!-- IOs are seen as LEDs -->
>
> <define name="LED_6_BANK" value="0"/>
> <define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
>
> <!-- ADC 5 -->
> <define name="LED_7_BANK" value="0"/>
> <define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
>
> <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
> <define name="DC_ZOOM_LED" value="7"/>
> </section>
>
> <makefile>
> CONFIG = \"tiny_2_1_1.h\"
>
> include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
>
> FLASH_MODE=IAP
>
> ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
> ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
> main_fbw.c main_ap.c main.c
>
> ap.srcs += commands.c
>
> ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
> ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
>
> ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
> ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
>
> #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
> -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
> #XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
>
> #TRANSPARENT
> ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
> -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
> -DDATALINK=PPRZ -DUART1_BAUD=B9600
> ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
>
>
> ap.CFLAGS += -DINTER_MCU
> ap.srcs += inter_mcu.c
>
> ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
> ap.srcs += $(SRC_ARCH)/adc_hw.c
>
> ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
> -DGPS_USE_LATLONG
> # -DGPS_LED=2
> ap.srcs += gps_ubx.c gps.c latlong.c
>
> ap.CFLAGS += -DINFRARED -DALT_KALMAN
> ap.srcs += infrared.c estimator.c
>
> ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
> ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
>
>
> ap.CFLAGS += -DGYRO -DADXRS150
> ap.srcs += gyro.c nav_line.c
> ap.srcs += nav_survey_rectangle.c
> # chemotaxis.c anemotaxis.c discsurvey.c
>
> ########## Barometer (SPI)
> #ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
> #ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
>
> ########## Chemo sensor (I2C)
> #ap.srcs += i2c.c arm7/i2c_hw.c enose.c chemo_detect.c
> #ap.CFLAGS += -DUSE_I2C -DENOSE
>
> # Digital camera
> # Shutter: I2C SCL
> # Zoom: I2C SDA
> ap.CFLAGS += -DDIGITAL_CAM
> ap.srcs += dc.c
>
>
> # Config for SITL simulation
> include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
> sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
>
> sim.srcs += nav_line.c nav_survey_rectangle.c
> # -DENOSE
> # chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c
> chemo_detect.c
>
> sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
> sim.srcs += dc.c
>
>
>
>
> # a test program to setup actuators
> setup_actuators.ARCHDIR = $(ARCHI)
> setup_actuators.ARCH = arm7tdmi
> setup_actuators.TARGET = setup_actuators
> setup_actuators.TARGETDIR = setup_actuators
>
> setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
> -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600
> -DDATALINK=PPRZ -DPPRZ_UART=Uart1
> setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
> $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c
> $(SRC_ARCH)/servos_4015_hw.c main.c
>
> </makefile>
> </airframe>
>
> -----------------------------------
> <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
>
>
>
> <flight_plan alt="75" ground_alt="0" lat0="48.206111111" lon0="16.377222222"
> max_dist_from_home="1500" name="Frauenkirchen" security_height="25">
> <header>
> #include "nav_line.h"
> #include "datalink.h"
> </header>
> <waypoints>
> <waypoint name="HOME" x="0" y="0"/>
> <waypoint name="STDBY" x="49.5" y="100.1"/>
> <waypoint name="1" x="-108.0" y="129.4"/>
> <waypoint name="2" x="64.6" y="-23.6"/>
> <waypoint name="MOB" x="137.0" y="-11.6"/>
> <waypoint name="S1" x="-119.2" y="69.6"/>
> <waypoint name="S2" x="274.4" y="209.5"/>
> <waypoint alt="30.0" name="AF" x="25.5" y="-17.7"/>
> <waypoint alt="0.0" name="TD" x="-100.9" y="82.6"/>
> <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
> <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="Flugprogramm1"/>
> <set value="0" var="kill_throttle"/>
> <set value="0" var="estimator_flight_time"/>
> <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
> </block>
> <block name="Standby" strip_button="Standby" strip_icon="home.png">
> <circle radius="nav_radius" wp="STDBY"/>
> </block>
> <block name="Flugprogramm1" strip_button="Figure 8 (wp 1-2)"
> strip_icon="eight.png">
> <go wp="1" approaching_time="0"/>
> <go wp="2" approaching_time="0"/>
> <go wp="1" approaching_time="0"/>
> <go wp="2" approaching_time="0"/>
> <deroute block="Land Right AF-TD"/>
> </block>
> <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
> <oval p1="1" p2="2" radius="nav_radius"/>
> </block>
> <block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
> <call fun="NavSetWaypointHere(WP_MOB)"/>
> <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
> <circle radius="nav_radius" wp="MOB"/>
> </block>
> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
> <exception cond="datalink_time > 22" deroute="Standby"/>
> <call fun="nav_line_init()"/>
> <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
> </block>
> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)"
> strip_icon="survey.png">
> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
> </block>
> <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)"
> 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 left (wp AF-TD)"
> 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"/>
> <circle radius="nav_radius"
> until="And(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>
> </blocks>
> </flight_plan>
>
>
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