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[Paparazzi-devel] automated landing


From: Chris
Subject: [Paparazzi-devel] automated landing
Date: Sat, 02 Jul 2011 14:33:51 +0300
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv:1.9.2.17) Gecko/20110424 Thunderbird/3.1.10

Hi.
I have been thinking to ask this question for a long time but i was always distracted by something else. What is wrong with controlling the final approach using the "climb" mode like this:

<block name="land_north_wind" strip_button="Land (North wind) " strip_icon="land-right.png"> <exception cond="pprz_mode == PPRZ_MODE_MANUAL || pprz_mode == PPRZ_MODE_AUTO1" deroute="standby"/>
<call fun="Set_Min_Groundspeed(14.)"/>
<set value="CAM_MODE_OFF" var="cam_mode"/>
<call fun="nav_compute_baseleg(WP_AF_SOUTH, WP_RNW_END_SOUTH, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*20), 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG)))" wp="BASELEG"/>
</block>
<block name="final_north">
<exception cond="pprz_mode == PPRZ_MODE_MANUAL || pprz_mode == PPRZ_MODE_AUTO1" deroute="standby"/>
<exception cond="(ground_alt + 5) > estimator_z" deroute="flare_north"/>
<call fun="Set_Min_Groundspeed(0)"/>
<go approaching_time="0" from="AF_SOUTH" hmode="route" vmode="glide" wp="RNW_END_SOUTH"/>
</block>
<block name="flare_north">
<exception cond="pprz_mode == PPRZ_MODE_MANUAL || pprz_mode == PPRZ_MODE_AUTO1" deroute="standby"/> <go approaching_time="0" climb="-1.0" from="RNW_END_SOUTH" hmode="route" vmode="climb" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>

Thank you all for your time and help.
Chris




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