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[paparazzi-commits] [4282] small flight plan and aircraft fixes
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [4282] small flight plan and aircraft fixes |
|
Date: |
Mon, 19 Oct 2009 19:38:10 +0000 |
Revision: 4282
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4282
Author: mmm
Date: 2009-10-19 19:38:10 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
small flight plan and aircraft fixes
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/funjetmm.xml
paparazzi3/trunk/conf/flight_plans/grosslobke_demo.xml
Added Paths:
-----------
paparazzi3/trunk/conf/flight_plans/nordlys.xml
Modified: paparazzi3/trunk/conf/airframes/funjetmm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetmm.xml 2009-10-19 18:32:12 UTC
(rev 4281)
+++ paparazzi3/trunk/conf/airframes/funjetmm.xml 2009-10-19 19:38:10 UTC
(rev 4282)
@@ -260,9 +260,6 @@
ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
ap.srcs += bomb.c
ap.srcs += snav.c
@@ -276,8 +273,7 @@
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
+sim.srcs += bomb.c
</makefile>
Modified: paparazzi3/trunk/conf/flight_plans/grosslobke_demo.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/grosslobke_demo.xml 2009-10-19
18:32:12 UTC (rev 4281)
+++ paparazzi3/trunk/conf/flight_plans/grosslobke_demo.xml 2009-10-19
19:38:10 UTC (rev 4282)
@@ -1,52 +1,35 @@
-<flight_plan ALT="170" GROUND_ALT="68" LAT0="52.26483" LON0="9.99394"
MAX_DIST_FROM_HOME="1500" NAME="Gross Lobke, verschiedene Kreise" QFU="270"
SECURITY_HEIGHT="60">
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="170" ground_alt="68" lat0="52.26483" lon0="9.99394"
max_dist_from_home="1500" name="Gross Lobke Demo" qfu="270"
security_height="60">
<header>
-#include "joystick.h"
#include "bomb.h"
#include "nav_line.h"
#include "datalink.h"
</header>
- <rc_control>
- </rc_control>
- <waypoints utm_x0="567831.0" utm_y0="5790955.0">
+ <waypoints>
<waypoint name="HOME" x="15.0" y="5.0"/>
- <waypoint name="1" x="-181.785735614" y="34.9692539535"/>
- <waypoint name="2" x="130.143368186" y="90.3661855655"/>
- <waypoint name="CR" x="0.0885126006" y="73.7359798392"/>
+ <waypoint name="1" x="-180." y="35."/>
+ <waypoint name="2" x="156.8" y="22.3"/>
+ <waypoint name="CR" x="0.0" y="160.0"/>
<waypoint name="S1" x="-200" y="-200"/>
<waypoint name="S2" x="300" y="400"/>
- <waypoint alt="140" name="START" x="140.0" y="35."/>
- <waypoint alt="120" name="BASELEG" x="39.9" y="-130.3"/>
- <waypoint alt="120" name="RELEASE" x="39.9" y="-110.3"/>
- <waypoint alt="160" name="CLIMB" x="39.9" y="-90.3"/>
- <waypoint alt="120" name="_BASELEG" x="39.9" y="-90.3"/>
- <waypoint alt="120" name="AF" x="39.9" y="-90.3"/>
- <waypoint alt="68" name="TD" x="-10." y="10.3"/>
- <waypoint alt="68" name="TARGET" x="0.9" y="10.3"/>
+ <waypoint alt="140.0" name="START" x="-180" y="-0.0"/>
+ <waypoint alt="68.0" name="TARGET" x="-56.9" y="7.8"/>
+ <waypoint alt="68.0" name="TD" x="-2.3" y="18.2"/>
+ <waypoint alt="120.0" name="AF" x="170.0" y="45.0"/>
+ <waypoint alt="120.0" name="BASELEG" x="40." y="-130."/>
+ <waypoint alt="120.0" name="_BASELEG" x="40." y="-130."/>
+ <waypoint alt="120.0" name="RELEASE" x="40." y="-110."/>
+ <waypoint alt="160.0" name="CLIMB" x="40." y="-90."/>
</waypoints>
<blocks>
- <block NAME="start">
- <attitude roll="0" pitch="20" vmode="throttle" throttle="0.7"
until="(estimator_flight_time > 3)"/>
+ <block name="start">
+ <attitude pitch="20" roll="0" throttle="0.8"
until="(estimator_flight_time > 3)" vmode="throttle"/>
<go wp="START"/>
</block>
- <block NAME="wait" strip_button="wait">
- <circle wp="CR" radius="nav_radius"/>
+ <block name="wait" strip_button="wait">
+ <circle radius="nav_radius" wp="CR"/>
</block>
- <block NAME="east">
- <go target="2" APPROACHING_TIME="2" HMODE="route" WP="2" from="1"/>
- <deroute block="west"/>
- </block>
- <block NAME="west">
- <go target="1" APPROACHING_TIME="2" HMODE="route" WP="1" from="2"/>
- <deroute block="east"/>
- </block>
- <block NAME="east t">
- <go target="2" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55"
HMODE="route" WP="2" from="1"/>
- <deroute block="west t"/>
- </block>
- <block NAME="west t">
- <go target="1" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55"
HMODE="route" WP="1" from="2"/>
- <deroute block="east t"/>
- </block>
<block name="survey">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
@@ -66,33 +49,23 @@
<block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)"
strip_icon="eight.png">
<eight center="1" radius="nav_radius" turn_around="2"/>
</block>
-
- <block name="Joystick" strip_button="J" pre_call="{}"
strip_icon="joystick.png">
- <set var="lateral_mode" value="LATERAL_MODE_ROLL"/>
- <set var="v_ctl_mode" value="V_CTL_MODE_MANUAL"/>
- <set var="joystick_block" value="nav_block"/>
- <call fun="TRUE"/>
+ <block name="down" strip_button="Down" strip_icon="downdown.png">
+ <set value="LATERAL_MODE_ROLL" var="lateral_mode"/>
+ <set value="V_CTL_MODE_MANUAL" var="v_ctl_mode"/>
+ <set value="TRUE" var="h_ctl_disabled"/>
+ <set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
+ <set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
+ <while cond="estimator_z > ground_alt + 220"/>
+ <set value="0" var="h_ctl_aileron_setpoint"/>
+ <set value="0" var="h_ctl_elevator_setpoint"/>
</block>
-
- <block NAME="down" strip_button="Down">
- <set var="lateral_mode" value="LATERAL_MODE_ROLL"/>
- <set var="v_ctl_mode" value="V_CTL_MODE_MANUAL"/>
- <set value="TRUE" var="h_ctl_disabled"/>
- <set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
- <set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
- <while cond="estimator_z > ground_alt + 220"/>
- <set value="0" var="h_ctl_aileron_setpoint"/>
- <set value="0" var="h_ctl_elevator_setpoint"/>
- <!--deroute block="down_end"/-->
+ <block name="down_end" strip_button="DownEnd" strip_icon="downdownend.png">
+ <set value="0" var="h_ctl_aileron_setpoint"/>
+ <set value="0" var="h_ctl_elevator_setpoint"/>
+ <while cond="1.> stage_time"/>
+ <set value="FALSE" var="h_ctl_disabled"/>
+ <deroute block="wait"/>
</block>
- <block NAME="down_end" strip_button="DownEnd">
- <set value="0" var="h_ctl_aileron_setpoint"/>
- <set value="0" var="h_ctl_elevator_setpoint"/>
- <while cond="1.> stage_time"/>
- <set value="FALSE" var="h_ctl_disabled"/>
- <deroute block="wait"/>
- </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"/>
@@ -137,6 +110,7 @@
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block-->
+
<!--block NAME="roll" strip_button="Roll">
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
@@ -144,5 +118,6 @@
<set value="FALSE" var="h_ctl_disabled"/>
<return/>
</block-->
+
</blocks>
</flight_plan>
Added: paparazzi3/trunk/conf/flight_plans/nordlys.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/nordlys.xml
(rev 0)
+++ paparazzi3/trunk/conf/flight_plans/nordlys.xml 2009-10-19 19:38:10 UTC
(rev 4282)
@@ -0,0 +1,99 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="150" ground_alt="10" lat0="78.202961" lon0="15.8310"
max_dist_from_home="3000" name="Nordlysstasjonen" qfu="270"
security_height="60">
+ <header>
+#include "nav_line.h"
+#include "datalink.h"
+</header>
+ <waypoints>
+ <waypoint name="HOME" x="-0.3" y="-66.4"/>
+ <waypoint name="1" x="23.4" y="122.0"/>
+ <waypoint name="2" x="264.0" y="-6.8"/>
+ <waypoint name="S1" x="-428.5" y="-438.0"/>
+ <waypoint name="S2" x="352.9" y="376.6"/>
+ <waypoint name="MOB" x="39.9" y="-90.3"/>
+ <waypoint alt="131.0" name="CR" x="67.6" y="18.0"/>
+ <waypoint alt="100.0" name="START" x="140.0" y="-156.5"/>
+ <waypoint alt="130.0" name="_BASELEG" x="10.2" y="-220.3"/>
+ <waypoint alt="130.0" name="AF" x="185.9" y="-47.2"/>
+ <waypoint alt="20.0" name="TD" x="29.8" y="45.8"/>
+ <waypoint name="PROF_LAND" x="168.6" y="36.4"/>
+ </waypoints>
+ <exceptions>
+ <exception cond="estimator_z > 5000" deroute="wait"/>
+ <exception cond="datalink_time > 140" deroute="wait"/>
+ <exception cond="10 > PowerVoltage()" deroute="wait"/>
+ </exceptions>
+ <blocks>
+ <block name="start">
+ <attitude pitch="20" roll="0" throttle="0.7"
until="(estimator_flight_time > 3)" vmode="throttle"/>
+ <go wp="START"/>
+ </block>
+ <block name="wait" strip_button="wait">
+ <circle radius="nav_radius" wp="CR"/>
+ </block>
+ <block name="down" strip_button="Down" strip_icon="downdown.png">
+ <set value="LATERAL_MODE_ROLL" var="lateral_mode"/>
+ <set value="V_CTL_MODE_MANUAL" var="v_ctl_mode"/>
+ <set value="TRUE" var="h_ctl_disabled"/>
+ <set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
+ <set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
+ <while cond="estimator_z > ground_alt + 220"/>
+ <set value="0" var="h_ctl_aileron_setpoint"/>
+ <set value="0" var="h_ctl_elevator_setpoint"/>
+ </block>
+ <block name="down_end" strip_button="DownEnd" strip_icon="downdownend.png">
+ <set value="0" var="h_ctl_aileron_setpoint"/>
+ <set value="0" var="h_ctl_elevator_setpoint"/>
+ <while cond="1.> stage_time"/>
+ <set value="FALSE" var="h_ctl_disabled"/>
+ <deroute block="wait"/>
+ </block>
+ <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
+ <call fun="nav_line_init()"/>
+ <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
+ </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="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS"
strip_icon="survey.png">
+ <survey_rectangle grid="200" wp1="S1" wp2="S2"/>
+ </block>
+ <block name="Survey S1-S2 WE" strip_button="Survey (wp S1-S2) WE"
strip_icon="survey_we.png">
+ <survey_rectangle grid="200" orientation="WE" wp1="S1" wp2="S2"/>
+ </block>
+ <block name="MOB" strip_button="Circle 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="profile_up land" strip_button="Profile Up Land"
strip_icon="up_profile.png">
+ <circle radius="nav_radius" wp="PROF_LAND"/>
+ </block>
+ <block name="profile_down land" strip_button="Profile Down Land"
strip_icon="down_profile.png">
+ <circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0"
until="(ground_alt+100 > estimator_z)" vmode="throttle" wp="PROF_LAND"/>
+ <deroute block="wait"/>
+ </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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > 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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Martin Mueller <=