Pascal,
Just for my own curiousity. Couldnt the answer to this original question about
looping a block been solved by adding a deroute at the end of the last <go> command?
AJ
-------- Original Message --------
Subject: Re: [Paparazzi-devel] fly in the loop
From: Steven Wawryk <address@hidden>
Date: Mon, August 03, 2009 10:30 pm
To: address@hidden
Hi Pascal,
I guess I like to think of the entire <while until="..."/> statement as a
"stage". But if others like to think of each iteration as a stage, then I'd
be
happy with anything that allows a readable construct. Either of your
suggestions would make me happy. Prominent warnings about the use of
stage_time
in while elements are probably needed.
Steve
Pascal Brisset wrote:
> Hi,
>
> we could have a
>
> <sleep until="condition"/>
>
> instruction or a new "loop_time" variable. What do you think ?
>
> --Pascal
>
> Steven Wawryk wrote:
> > Hi Pascal,
> >
> > It's not a criticism, it's just a usage that I find more intuitive and
readable.
> >
> > I agree that it makes no sense during any fixed-wing flying phase. The
> > situations I've encountered where I would have liked it are all before
launch
> > when it doesn't make sense for a controller to be running.
> >
> > One example was for a delay between control surface position changes
during
> > pre-launch testing where I wanted:
> >
> > <while cond="LessThan(stage_time,4)"/>
> >
> > and worked around it with:
> >
> > <attitude roll="0.0" throttle="0.0" vmode="throttle"
> > until="LessThan(4,stage_time)"/>.
> >
> > Another was to speed up GPS settling where I wanted a timed out accuracy
criterion:
> >
> > <while cond="And(LessThan(1000,gps_Pacc),LessThan(stage_time,10))"/>
> >
> > and worked around with:
> >
> > <attitude roll="0.0" throttle="0.0" vmode="throttle"
> > until="Or(LessThan(gps_Pacc,1000),LessThan(10,stage_time))"/>
> >
> > I personally think that the "while" element is more readable.
> >
> > The use of empty "while" element works when used with block_time
> > (NavBlockTime()) or any other variable for that matter and there are
lots of
> > examples of this in the flight_plan directory, so it can entice the
naive
user
> > like me to use stage_time and wonder why it hangs and never gets past
that stage
> > (though the flight plan display doesn't actually show that it is hung up
on that
> > stage, so it takes a bit of investigating).
> >
> > Of course, it's not a show-stopper because there is a work around.
> >
> > Steve
> >
> >
> > Pascal Brisset wrote:
> >
> >> Hi,
> >>
> >> there is a single "stage_time" variable which is reset at the beginning
> >> of every stage. Here, there is a hidden empty stage inside the while
> >> loop where the variable is reset. It is probably not enough documented.
> >>
> >> However, what do you expect of doing nothing during 2s ? Except during
> >> an initialisation phase (or a perch phase with an heli), on the ground,
> >> you probably want to continue to fly ...
> >>
> >> So the <attitude/> instruction is a good answer
> >>
> >> --Pascal
> >>
> >> Steven Wawryk wrote:
> >>
> >>> I have noticed previously that stage_time is reset to zero every
iteration of a
> >>> while loop. It works fine with "until=" attributes in other elements
or
> >>> "stages", but not while elements. I think this is a bug.
> >>>
> >>> Try another element that has an "until" attribute, like <attitude ...
until="2
> >>> <= stage_time">
> >>>
> >>>
> >>> 郭 flying pig wrote:
> >>>
> >>>
> >>>> Hi all
> >>>>
> >>>> I have try to create a loop flight in the basic.xml (from HOME -->
STDBY --->CLIMB ....repeat), i use the following
> >>>>
> >>>>
> >>>>
> >>>> <block name="loop" strip_button="lop">
> >>>> <while cond="TRUE">
> >>>> <go wp="HOME"/>
> >>>> <go wp="STDBY"/>
> >>>> <go wp="CLIMB"/>
> >>>> <while cond="2 > stage_time"/>
> >>>> </while>
> >>>> </block>
> >>>>
> >>>>
> >>>> The problem i have is that once i call the block, it will fly from
HOME --->STDBY ---->CLIMB , but after that it will not do anything until i
call the block again, does anyone one have any idea how to do it right?
> >>>>
> >>>> I have enclosed my basic2.xml for the flight plan.
> >>>>
> >>>>
> >>>> Thanks
> >>>>
> >>>> Chen
> >>>>
> >>>> _________________________________________________________________
> >>>> 輕鬆分享 – 利用 Windows Live 相簿分享相片
> >>>>
> >>>> http://download.live.com/toolbar
> >>>>
> >>>>
> >>>>
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> >>>>
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