[paparazzi-commits] [4135] wait after motors on before takeoff

[Gautier Hattenberger]

Revision: 4135
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4135
Author:   gautier
Date:     2009-09-10 11:51:57 +0000 (Thu, 10 Sep 2009)
Log Message:
-----------
wait after motors on before takeoff

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

Modified: paparazzi3/trunk/conf/flight_plans/booz_test_2.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/booz_test_2.xml  2009-09-10 09:26:47 UTC 
(rev 4134)
+++ paparazzi3/trunk/conf/flight_plans/booz_test_2.xml  2009-09-10 11:51:57 UTC 
(rev 4135)
@@ -3,10 +3,12 @@
 <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="CLIMB" x="0.0" y="5.0"/>
     <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."/>
+    <waypoint name="CAM" x="-20" y="-50" height="2."/>
   </waypoints>
   <blocks>
     <block name="Wait GPS">
@@ -14,7 +16,7 @@
       <while cond="!GpsFixValid()"/>
     </block>
     <block name="Geo init">
-      <while cond="LessThan(NavBlockTime(), 6)"/>
+      <while cond="LessThan(NavBlockTime(), 10)"/>
       <call fun="NavSetGroundReferenceHere()"/>
     </block>
     <block name="Holding point">
@@ -22,13 +24,12 @@
       <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"/>
+      <exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)" 
deroute="Standby"/>
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <call fun="NavResurrect()"/>
-      <attitude pitch="0" roll="0" throttle="0.6" vmode="throttle"/>
+      <while cond="LessThan(NavBlockTime(), 3)"/>
+      <stay height="4.0" vmode="alt" wp="CLIMB"/>
     </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>
@@ -51,13 +52,14 @@
       <stay wp="HOME"/>
     </block>
     <block name="circle">
-      <circle radius="nav_radius" wp="HOME"/>
+      <circle radius="nav_radius" wp="p1"/>
     </block>
     <block name="land">
       <go wp="HOME"/>
     </block>
     <block name="flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
+      <call fun="NavStartDetectGround()"/>
       <stay climb="-0.8" vmode="climb" wp="HOME"/>
     </block>
   </blocks>