[paparazzi-commits] [4103] test flight plan for booz

[Gautier Hattenberger]

Revision: 4103
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4103
Author:   gautier
Date:     2009-09-08 12:32:08 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
test flight plan for booz

Added Paths:
-----------
    paparazzi3/trunk/conf/flight_plans/booz_test_2.xml

Added: paparazzi3/trunk/conf/flight_plans/booz_test_2.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/booz_test_2.xml                          
(rev 0)
+++ paparazzi3/trunk/conf/flight_plans/booz_test_2.xml  2009-09-08 12:32:08 UTC 
(rev 4103)
@@ -0,0 +1,64 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" 
max_dist_from_home="400" name="Booz Test Enac" security_height="2">
+  <waypoints>
+    <waypoint name="HOME" x="0.0" y="0.0"/>
+    <waypoint name="p1" x="3.6" y="-13.9"/>
+    <waypoint name="p2" x="27.5" y="-48.2"/>
+    <waypoint name="p3" x="16.7" y="-19.6"/>
+    <waypoint name="p4" x="13.7" y="-40.7" height="6."/>
+  </waypoints>
+  <blocks>
+    <block name="Wait GPS">
+      <call fun="NavKillThrottle()"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 6)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+    </block>
+    <block name="Holding point">
+      <call fun="NavKillThrottle()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" 
until="FALSE"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(1.5)" 
deroute="Standby"/>
+      <call fun="NavResurrect()"/>
+      <attitude pitch="0" roll="0" throttle="0.6" vmode="throttle"/>
+    </block>
+    <block name="Takeoff2" strip_button="Takeoff 2" strip_icon="takeoff.png">
+      <call fun="NavResurrect()"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <stay height="4.0" vmode="alt" wp="HOME"/>
+    </block>
+    <block name="stay_p1">
+      <stay wp="p1"/>
+    </block>
+    <block name="go_p2">
+      <go wp="p2"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="line_p1_p2">
+      <go from="p1" hmode="route" wp="p2"/>
+      <go from="p2" hmode="route" wp="p1"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="route">
+      <go from="HOME" hmode="route" wp="p3"/>
+      <go from="p3" hmode="route" wp="p4"/>
+      <go from="p4" hmode="route" wp="HOME"/>
+      <stay wp="HOME"/>
+    </block>
+    <block name="circle">
+      <circle radius="nav_radius" wp="HOME"/>
+    </block>
+    <block name="land">
+      <go wp="HOME"/>
+    </block>
+    <block name="flare">
+      <exception cond="NavDetectGround()" deroute="Holding point"/>
+      <stay climb="-0.8" vmode="climb" wp="HOME"/>
+    </block>
+  </blocks>
+</flight_plan>