[Paparazzi-devel] Dropping items on target (reply)

[chris]

Hi.
I use the integrated functions i found in one flight plan and then i 
experimented a bit.
Here is the code i use and so far it works ok.
Also have a look to the "slayer_training.xml" flight plan.

   <block name="Bomb Right" strip_button="Bomb R" strip_icon="kill.png">
     <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="bomb"/>
   </block>
   <block name="Bomb Left" strip_button="Bomb L"strip_icon="kill.png">
     <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="bomb"/>
   </block>
   <block name="bomb">
     <call fun="BombComputeApproach(WP_TARGET, WP_START, nav_radius)"/>
     <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
wp="BASELEG"/>
     <circle radius="nav_radius" 
until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>

   </block>
   <block name="align">
     <exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
     <go approaching_time="bomb_trigger_delay" from="START" 
hmode="route" wp="RELEASE"/>
   </block>
   <block name="shoot">
   <set value="BombShoot()" var="unit"/> 
     <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB" 
alt="ground_alt+100" />
     <set value="BombCloseHatch()" var="unit"/> 
     <deroute block="standby"/>
   </block>