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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: |
Sat, 18 Jul 2009 18:00:09 +0200 |
Hello again, everybody!
I am getting closer.
Last night, I tried outdoors with good GPS reception. Got to holding point and
didn't get beyond.
So I made a flightplan that doesn't wait for GPS and doesn't set the kill mode.
Because I always needed to reverse the throttle on Futaba radios, I had
reversed it in the radio xml-file. It did not work, stuck at 0%. Back to
normal, now I see in the GCS that the throttle moves in manual mode (no motor
or servo attached in the moment). And, as expected, reversed.
Reversing it in the servos section is not a good idea, do you agree?
I think I must reverse it in the radio itself. So I might be ready for the
first AUTO1 flight, weather permitting. The control surfaces react in the right
direction in manual and AUTO1.
The big problem seems to be the same as Cory Barton had last year: Looks as if
the GCS doesn't send anything .... well, how to find out?
I commented out the datalink section, but for me it does not help.
I only commented out the section, not all other references to datalink like -D
parameters and datalink.c. When I do, I get a compiler (or linker) error.
Any more ideas?
Greetings, Martin
-------- Original-Nachricht --------
> Datum: Fri, 17 Jul 2009 09:27:28 +0100
> Von: Gareth R <address@hidden>
> An: address@hidden
> Betreff: Re: [Paparazzi-devel] No throttle, any mode
> 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>
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
>
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