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[flightplans] tudelft flightplans (#3220)
* 4 different files * Landing based on height
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,194 @@ | ||
| <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd"> | ||
| <flight_plan alt="70" ground_alt="0" alt="119" lat0="52.9262279" lon0="4.4986184" max_dist_from_home="20500" name="Rotating Wing EHR8" security_height="2"> | ||
| <header/> | ||
| <waypoints> | ||
| <waypoint name="HOME" x="0" y="0"/> | ||
| <waypoint name="CLIMB" x="300." y="70"/> | ||
| <waypoint name="trans" x="300." y="100."/> | ||
| <waypoint name="decel" x="300." y="110."/> | ||
| <waypoint name="begin_trans" x="300." y="90."/> | ||
| <waypoint name="end_trans" x="300." y="120."/> | ||
| <waypoint name="STDBY" x="60" y="20"/> | ||
| <waypoint name="p1" x="65" y="75"/> | ||
| <waypoint name="p2" x="200" y="120"/> | ||
| <waypoint name="p3" x="250" y="-30"/> | ||
| <waypoint name="p4" x="120" y="-75"/> | ||
| <waypoint name="circ" x="160" y="25"/> | ||
| <waypoint name="TD" x="10" y="-1"/> | ||
| <waypoint name="APP" x="70" y="-25"/> | ||
| <waypoint name="FOLLOW" x="300" y="80"/> | ||
| <!-- EHR8 --> | ||
| <waypoint name="C1" lat="52.96166667" lon="4.740277778"/> | ||
| <waypoint name="C2" lat="52.86666667" lon="4.716666667"/> | ||
| <waypoint name="C3" lat="52.78333333" lon="4.683333333"/> | ||
| <waypoint name="C4" lat="52.75" lon="4.533333333"/> | ||
| <waypoint name="C5" lat="52.775" lon="4.433333333"/> | ||
| <waypoint name="C6" lat="52.81666667" lon="4.35"/> | ||
| <waypoint name="C7" lat="53.08333333" lon="4.35"/> | ||
| <waypoint name="C8" lat="53.10277778" lon="4.515555556"/> | ||
| <waypoint name="C9" lat="53.04972222" lon="4.679444444"/> | ||
| </waypoints> | ||
| <sectors> | ||
| <sector color="red" name="Flyzone"> | ||
| <corner name="C1"/> | ||
| <corner name="C2"/> | ||
| <corner name="C3"/> | ||
| <corner name="C4"/> | ||
| <corner name="C5"/> | ||
| <corner name="C6"/> | ||
| <corner name="C7"/> | ||
| <corner name="C8"/> | ||
| <corner name="C9"/> | ||
| </sector> | ||
| </sectors> | ||
| <modules> | ||
| <module name="follow_me"> | ||
| <define name="FOLLOW_ME_MOVING_WPS" value="WP_p1,WP_p2,WP_p3,WP_p4,WP_STDBY,WP_circ,WP_APP"/> | ||
| </module> | ||
| </modules> | ||
| <exceptions> | ||
| <exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosHeight() @GT 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/> | ||
| <exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/> | ||
| </exceptions> | ||
| <blocks> | ||
| <block name="Wait GPS"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <call_once fun="NavKillThrottle()"/> | ||
| <while cond="!GpsFixValid() || !state.ned_initialized_i"/> | ||
| </block> | ||
| <block name="Geo init"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <while cond="LessThan(NavBlockTime(), 10)"/> | ||
| <call_once fun="NavSetAltitudeReferenceHere()"/> | ||
| </block> | ||
| <block name="Holding point"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <call_once fun="NavKillThrottle()"/> | ||
| <set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/> | ||
| <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/> | ||
| </block> | ||
| <block name="Start Engine" strip_button="Start Engines" strip_icon="on.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <call_once fun="NavResurrect()"/> | ||
| <attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/> | ||
| </block> | ||
| <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/> | ||
| <call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough --> | ||
|
|
||
| <call_once fun="NavSetWaypointHere(WP_CLIMB)"/> | ||
| <attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/> | ||
| </block> | ||
| <block name="Climb"> | ||
| <exception cond="GetPosHeight() @GT 20.0" deroute="Standby"/> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <call_once fun="nav_set_heading_current()"/> | ||
| <stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/> | ||
| </block> | ||
| <block name="Standby" strip_button="Standby" strip_icon="home.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> | ||
| </block> | ||
| <block name="Approach APP"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/> | ||
| </block> | ||
| <!-- <block name="follow_module"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <stay pre_call="follow_me_set_wp(WP_p1, 0)" wp="p1"/> | ||
| </block> --> | ||
| <block name="stay_begin-trans"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> | ||
| </block> | ||
| <block name="line_trans_fwd"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/> | ||
| <call_once fun="NavSetWaypointHere(WP_begin_trans)"/> | ||
| <go wp="end_trans"/> | ||
| <deroute block="end_transition"/> | ||
| </block> | ||
| <block name="end_transition"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <stay wp="end_trans"/> | ||
| </block> | ||
| <block name="transition_CW"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/> | ||
| <stay wp="end_trans"/> | ||
| <exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/> | ||
| </block> | ||
| <block name="transition_CCW"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/> | ||
| <stay wp="end_trans"/> | ||
| <exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/> | ||
| </block> | ||
| <block name="route"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> | ||
| <go from="p1" hmode="route" wp="p2"/> | ||
| <go from="p2" hmode="route" wp="p3"/> | ||
| <go from="p3" hmode="route" wp="p4"/> | ||
| <go from="p4" hmode="route" wp="p1"/> | ||
| <deroute block="route"/> | ||
| </block> | ||
| <block name="small_route" strip_button="Route" strip_icon="path.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> | ||
| <go wp="p2"/> | ||
| <go wp="p3"/> | ||
| <go wp="p4"/> | ||
| <go wp="p1"/> | ||
| <deroute block="small_route"/> | ||
| </block> | ||
| <block name="Circle_CW_fwd" strip_button="CircleRight" strip_icon="circle-right.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> | ||
| <circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> | ||
| </block> | ||
| <block name="Circle_CCW_fwd" strip_button="CircleLeft" strip_icon="circle-left.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> | ||
| <circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> | ||
| </block> | ||
| <block name="big_Circle_CW_fwd"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> | ||
| <circle radius="150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> | ||
| </block> | ||
| <block name="big_Circle_CCW_fwd"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/> | ||
| <circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/> | ||
| </block> | ||
| <block name="Transition_quad"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/> | ||
| <go wp="STDBY"/> | ||
| <deroute block="Standby"/> | ||
| </block> | ||
| <block name="land here" strip_button="Land Here" strip_icon="land-right.png"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <call_once fun="NavSetWaypointHere(WP_TD)"/> | ||
| </block> | ||
| <block name="land"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <go wp="TD"/> | ||
| </block> | ||
| <block name="descend"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <exception cond="GetPosHeight() @LT 12.0" deroute="flare"/> | ||
| <stay climb="-1.0" vmode="climb" wp="TD"/> | ||
| </block> | ||
| <block name="flare"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <stay climb="-0.5" vmode="climb" wp="TD"/> | ||
| <!--<exception cond="!(GetPosHeight() @LT 2.0)" deroute="flare_low"/>--> | ||
| <exception cond="agl_dist_valid @AND (agl_dist_value @LT 0.28)" deroute="flare_low"/> | ||
| </block> | ||
| <block name="flare_low"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <exception cond="NavDetectGround()" deroute="Holding point"/> | ||
| <exception cond="!nav_is_in_flight()" deroute="Holding point"/> | ||
| <exception cond="ground_detect()" deroute="Holding point"/> | ||
| <call_once fun="NavStartDetectGround()"/> | ||
| <stay climb="-0.5" vmode="climb" wp="TD"/> | ||
| </block> | ||
| <block name="landed"> | ||
| <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/> | ||
| <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/> | ||
| </block> | ||
| </blocks> | ||
| </flight_plan> |
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