[paparazzi-commits] [5627] added a booz test flight plan for nps

[Felix Ruess]

Revision: 5627
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5627
Author:   flixr
Date:     2010-08-23 18:10:30 +0000 (Mon, 23 Aug 2010)
Log Message:
-----------
added a booz test flight plan for nps

Added Paths:
-----------
    paparazzi3/trunk/conf/flight_plans/booz_test_sim.xml

Added: paparazzi3/trunk/conf/flight_plans/booz_test_sim.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/booz_test_sim.xml                        
        (rev 0)
+++ paparazzi3/trunk/conf/flight_plans/booz_test_sim.xml        2010-08-23 
18:10:30 UTC (rev 5627)
@@ -0,0 +1,72 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="5" ground_alt="0" lat0="37.6136" lon0="-122.3569" 
max_dist_from_home="400" name="Booz Test Sim" security_height="2">
+  <header>
+#include "booz2_autopilot.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0.0" y="0.0"/>
+    <waypoint name="CLIMB" x="0.0" y="5.0"/>
+    <waypoint name="p1" x="3.6" y="-13.9"/>
+    <waypoint name="p2" x="27.5" y="-48.2"/>
+    <waypoint name="p3" x="16.7" y="-19.6"/>
+    <waypoint name="p4" x="13.7" y="-40.7" height="6."/>
+    <waypoint name="CAM" x="-20" y="-50" height="2."/>
+  </waypoints>
+  <blocks>
+    <block name="Wait GPS">
+      <call fun="NavKillThrottle()"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+    </block>
+    <block name="Holding point">
+      <call fun="NavKillThrottle()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" 
until="FALSE"/>
+    </block>
+    <block name="Start Engine">
+      <call fun="NavResurrect()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" 
until="FALSE"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)" 
deroute="Standby"/>
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <while cond="LessThan(NavBlockTime(), 3)"/>
+      <stay height="4.0" vmode="alt" wp="CLIMB"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <stay height="4.0" vmode="alt" wp="HOME"/>
+    </block>
+    <block name="stay_p1">
+      <stay wp="p1"/>
+    </block>
+    <block name="go_p2">
+      <go wp="p2"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="line_p1_p2">
+      <go from="p1" hmode="route" wp="p2"/>
+      <go from="p2" hmode="route" wp="p1"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="route">
+      <go from="HOME" hmode="route" wp="p3"/>
+      <go from="p3" hmode="route" wp="p4"/>
+      <go from="p4" hmode="route" wp="HOME"/>
+      <stay wp="HOME"/>
+    </block>
+    <block name="circle">
+      <circle radius="nav_radius" wp="p1"/>
+    </block>
+    <block name="land">
+      <go wp="HOME"/>
+    </block>
+    <block name="flare">
+      <exception cond="NavDetectGround()" deroute="Holding point"/>
+      <call fun="NavStartDetectGround()"/>
+      <stay climb="-0.8" vmode="climb" wp="HOME"/>
+    </block>
+  </blocks>
+</flight_plan>