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Re: [Paparazzi-devel] No throttle, any mode
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From: |
Martin P |
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Subject: |
Re: [Paparazzi-devel] No throttle, any mode |
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Date: |
Fri, 17 Jul 2009 09:14:18 +0200 |
Thank you! I will try.
The thing with 10m is a good hint, last night I had the airframe next to the
window in the city (tall houses around)and didn't get any better than 15m.
Temproarily bypassing the Geo Init and Holding Point for ground test would
speed up things, as it took 15min to get a fix.
Greetings, Martin
-------- Original-Nachricht --------
> Datum: Thu, 16 Jul 2009 21:09:14 -0600
> Von: Haiyang Chao <address@hidden>
> An: address@hidden
> Betreff: Re: [Paparazzi-devel] No throttle, any mode
> "your throttle symbol is red" means "kill_throttle" is on "1".
>
> I don't know if it will work if u connect a servo to the throttle channel.
> Why not go to a throttle motor directly? It is not that easy to burn the
> motor controller and throttle motor if u make sure the power cable is
> correct. I would try to remove the Wait GPS, Geo Init and Holding Point
> block first just to see if the throttle still has that problem.
>
> As long as your GPS Pacc is less than 10 meters, the GPS should be good.
>
> Haiyang
>
> On Thu, Jul 16, 2009 at 3:53 PM, Martin P <address@hidden> 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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> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >