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[paparazzi-commits] [4277] booz FP with joystick
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4277] booz FP with joystick |
Date: |
Mon, 19 Oct 2009 12:48:28 +0000 |
Revision: 4277
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4277
Author: gautier
Date: 2009-10-19 12:48:28 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
booz FP with joystick
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 2009-10-19 12:15:24 UTC
(rev 4276)
+++ paparazzi3/trunk/conf/flight_plans/booz_test_2.xml 2009-10-19 12:48:28 UTC
(rev 4277)
@@ -1,14 +1,18 @@
<!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">
+ <header>
+ #include "booz_fms.h"
+ </header>
<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="p4" x="13.7" y="-40.7"/>
<waypoint name="CAM" x="-20" y="-50" height="2."/>
+ <waypoint name="TD" x="5.6" y="-10.9"/>
</waypoints>
<blocks>
<block name="Wait GPS">
@@ -18,6 +22,7 @@
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
+ <!--<call fun="NavSetAltitudeReferenceHere()"/>-->
</block>
<block name="Holding point">
<call fun="NavKillThrottle()"/>
@@ -30,11 +35,10 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)"
deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
- <while cond="LessThan(NavBlockTime(), 3)"/>
- <stay height="4.0" vmode="alt" wp="CLIMB"/>
+ <stay vmode="climb" climb="0.5" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
- <stay height="4.0" vmode="alt" wp="HOME"/>
+ <stay wp="HOME"/>
</block>
<block name="stay_p1">
<stay wp="p1"/>
@@ -57,13 +61,21 @@
<block name="circle">
<circle radius="nav_radius" wp="p1"/>
</block>
+ <block name="Joystick" pre_call="NavUpdateWPFromFms(WP_p1)">
+ <set var="fms.enabled" value="TRUE"/>
+ <call fun="NavSetWaypointHere(WP_p1)"/>
+ <stay wp="p1"/>
+ </block>
+ <block name="land here" strip_button="Land Here"
strip_icon="land-right.png">
+ <call fun="NavSetWaypointHere(WP_TD)"/>
+ </block>
<block name="land">
- <go wp="HOME"/>
+ <go wp="TD"/>
</block>
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding point"/>
<call fun="NavStartDetectGround()"/>
- <stay climb="-0.8" vmode="climb" wp="HOME"/>
+ <stay climb="-0.8" vmode="climb" wp="TD"/>
</block>
</blocks>
</flight_plan>
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