[Paparazzi-devel] Appointment

[Pascal Brisset]

Hi,

the attached screenshot shows an appointment realised this morning with 
a Paparazzi Twinjet aircraft. The plane was asked to fly over waypoint 
1, towards waypoint 2, at 7:46:00 UTC. When switched to this navigation 
block, the aircraft flew over an arc, a straight line and a second arc 
to arrive on waypoint 1 with the appropriate direction (towards 2). Then 
it flew a tangent circle which radius were controlled to end at the 
desired date.

Real UTC time is displayed in the upper left corner (option in the Nav 
menu). This time is computed from the GPS time of the aircraft. On the 
figure, the aircraft is about 15m from waypoint 1 . The wind (more than 
4m/s, the aircraft flying at 14m/s) is taken into account in the regulation.

Code available in:
 sw/airborne/snav.c
 conf/flight_plan/snav.xml
 conf/settings/snav.xml (which allows to set the appointment date from 
the strip)

--Pascal