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[Paparazzi-devel] New path instruction

From: Pascal Brisset
Subject: [Paparazzi-devel] New path instruction
Date: Thu, 13 Aug 2009 19:32:50 +0200
User-agent: Mozilla-Thunderbird (X11/20090706)


answer to an old request (I cannot find it): A <path/> instruction has been added to the flight plan language to fly over a list of waypoints. It is simply preprocessed into a sequence of <go/> instructions. Example in basic.xml:

<block name="Path 1,2,S1,S2,STDBY" strip_button="Path (1,2,S1,S2,STDBY)" strip_icon="path.png">
     <path wpts="1,2 S1"/>
<path wpts="S1, S2 STDBY" approaching_time="1" pitch="auto" throttle="0.4"/>
     <deroute block="Standby"/>

The list separaror is the regular expression "[ \t,]+" (at least one space, tab or comma). Extra standard attributes are allowed.
The translation produces here

       <go from="1" hmode="route" wp="2" wpts="1,2 S1" no="0"/>
       <go from="2" hmode="route" wp="S1" wpts="1,2 S1" no="1"/>
<go from="S1" hmode="route" wp="S2" approaching_time="1" throttle="0.4" pitch="auto" wpts="S1, S2 STDBY" no="2"/> <go from="S2" hmode="route" wp="STDBY" approaching_time="1" throttle="0.4" pitch="auto" wpts="S1, S2 STDBY" no="3"/>

and it is what you will see in the GCS.


PS: No, it is not possible to dynamically define the waypoints list from the GCS during the flight :-)

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