Flight Plans - Revision history

Fabien-B: Update sectors

2021-05-04T22:08:13Z

Update sectors

← Older revision		Revision as of 16:08, 4 May 2021
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	== Sectors ==		== Sectors ==

	~~=== Static sectors~~ (~~default~~) ~~===~~		Flat ''Sectors'' can be described as an area defined by a list of waypoint corners. Such an area will be displayed in the Ground Control Station (GCS) by colored lines connecting the cornerpoints.
			A function is generated to check if a point, usually the aircraft itself, is ''inside'' this sector.
			For a sector named <tt>MyBigGarden</tt> the generated function for the example here would be <tt>bool_t InsideMyBigGarden(float x, float y);</tt> where <tt>x</tt> and <tt>y</tt> are east and north coordinated, in meters, relative to the geographic reference of the flight plan.
			Note that sector names are not allowed to contain spaces.

	~~Flat~~ ''~~Sectors~~'~~' can be described as an area defined by list of waypoint corners. Such an area will be displayed in the Ground Control Station (GCS) by colored lines connecting the cornerpoints.~~		'''Note:''' The edges of the polygon should not cross each other.
	~~A function is generated to check if a point, usually the aircraft itself, is~~ ''~~inside~~'~~' this sector. Currently, this feature requires that~~ the polygon is <b>convex</b> and described in a <b>clockwise</b> order. For a sector named <tt>MyBigGarden</tt> the generated function for the example here would be <tt>bool_t InsideMyBigGarden(float x, float y);</tt> where <tt>x</tt> and <tt>y</tt> are east and north coordinated, in meters, relative to the geographic reference of the flight plan. If the flight plan is dynamically relocated, such a sector will be relocated but the display is currently not updated on the GCS. It would be great if one would help improving that part of the source code. Note that sector names are not ~~allowed to contain spaces~~.

	For example, with the following element in a flight plan.		For example, with the following element in a flight plan.
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	</source>		</source>

	It is then possible to add an exception clause to your flightplan. For example if the aircraft for some reason flies outside this, ~~defined by us, sector~~ the airframe will fly to a standby waypoint. The exclamation mark (!) means the boolean operator <tt>NOT</tt> in this example. In regular language one would describe "If my airframe is NOT inside the MyBigGarden sector anymore then deroute it to the standby waypoint. In Flightplan "Speak" this is written like:
			It is then possible to add an exception clause to your flightplan. For example if the aircraft for some reason flies outside this sector, the airframe will fly to a standby waypoint. The exclamation mark (!) means the boolean operator <tt>NOT</tt> in this example. In regular language one would describe "If my airframe is NOT inside the MyBigGarden sector anymore then deroute it to the standby waypoint. In Flightplan "Speak" this is written like:
	<source lang="xml">		<source lang="xml">
	<exception cond="! InsideMyBigGarden(GetPosX(), GetPosY())" deroute="standby"/>		<exception cond="! InsideMyBigGarden(GetPosX(), GetPosY())" deroute="standby"/>
	</source>		</source>

	~~NOTE: editing of the waypoints of the sector during the flight will not dynamically update the inside function. It will always check if the position is inside the original sector.~~		'''Tip:''' The color indicating the sector borders is not fixed but can be defined by oneself if wished for via the color attribute.

	'''~~Tips~~'''
	* A nice option in the corner notation is that one can add an underscore ( _ ) in front of the name; a corner or waypoint name that starts with an underscore is not displayed in the GCS. Only in editor mode it is visible. It is visible in editor mode, because if you the could not see it, it also would be not possible to edit or drag the corner or waypoint to another position.
	* The color indicating the sector borders is not fixed but can be defined by oneself if wished for via the color attribute.

	~~=== Dynamic sectors ===~~

	~~With the latest~~ version ~~(v5~~.~~5-devel-628)~~, ~~it is possible to create~~ dynamic sectors. The ~~procedure to create the~~ sector ~~is the same than for~~ the ~~static version with an~~ extra attribute '''type="dynamic"''':		=== Before version 6.0 ===
	~~<source lang="xml">~~		Before version 6.0, there was "static" and "dynamic" sectors. The default type of a sector was "static", except if the extra attribute '''type="dynamic"''' was added.
	~~<sectors>~~
	~~<sector name="MyBigGarden" color="red" type="dynamic">~~
	~~<corner name="C1"/>~~
	~~<corner name="C2"/>~~
	~~<corner name="C3"/>~~
	~~<corner name="C4"/>~~
	~~</sector>~~
	~~</sectors>~~
	~~</source>~~

	It is ~~also recommended to avoid using hidden waypoints (no _ prefix)~~, ~~so you can move the corner of your~~ sector ~~from~~ the ~~GCS. The polygon~~ is updated on the ~~2D map to reflect the new waypoints positions~~.		Static sectors have these limitations:
	~~Beside~~ the ~~possibility to change~~ the ~~shape of~~ the ~~area in~~ flight~~, one of~~ the ~~main benefit is that~~ the ~~algorithm behind allows concave hulls. The only restriction~~ is ~~that~~ the ~~edges of the polygon should not cross each other~~.		* The polygon need to be <b>convex</b> and described in a <b>clockwise</b> order.
			* If the flight plan is dynamically relocated, such a sector will be relocated but the display is not updated on the GCS.
			* editing of the waypoints of the sector during the flight do not dynamically update the inside function. It will always check if the position is inside the original sector.

	~~The generated function is the same than the static version and can be used the same way.~~

	== Variables ==		== Variables ==

Ghattenb: /* Expressions */

2020-11-14T21:34:15Z

Expressions

← Older revision		Revision as of 15:34, 14 November 2020
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	* Some binary operators: <, >, <=, >=, <>, ==, +, -, /, *		* Some binary operators: <, >, <=, >=, <>, ==, +, -, /, *
	* Some utility functions		* Some utility functions
			* Since some operators are not very compliant with the XML specifications (especially '<'), you can use some alternate naming:
			** @LT (less than, <)
			** @GT (greater than, >)
			** @LEQ (less or equal, <=)
			** @GEQ (greater or equal, >=)
			** @AND ( && )
			** @OR ( \|\| )
			** @DEREF ( -> )

	Some examples of usable expressions are given in the next sections.		Some examples of usable expressions are given in the next sections.

	=== Initialization Blocks ===		=== Initialization Blocks ===
	Most flight plans will have three blocks of flight plan initialization blocks. It is good practice to follow this example below if you first start learning to create flightplans		Most flight plans will have three blocks of flight plan initialization blocks. It is good practice to follow this example below if you first start learning to create flightplans

Openuas: Make it simple to also find Nav modules

2018-04-18T09:33:04Z

Make it simple to also find Nav modules

← Older revision		Revision as of 03:33, 18 April 2018
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	* all functions from the [http://docs.paparazziuav.org/latest/subsystems_2navigation_2waypoints_8h.html waypoint API]		* all functions from the [http://docs.paparazziuav.org/latest/subsystems_2navigation_2waypoints_8h.html waypoint API]
	* all variables declared in [[modules]] headers		* all variables declared in [[modules]] headers

			== Extentending ==

			By adding navigaition type of modules to you airframe your flightplan options can be massively extended.

			[[Advanced_Navigation_Routines\|Take a look on this page to see which modules are on offer]]

			In case all the basic options and modules still do not let you fly autonomous like you want to, nothing prevends you from creating andother nav module. Before you set out on that task, make sure that there really is no way or module that can make your wanted behaviour a reality.

			== Examples ==

			Take a good look at other flight plans included with Paparazzi, you can learn a lot from them. Be sure to also visit the [[Flight_Plan_Examples\|flight plan examples]] page to enhance your knowledge on flightplans.

	== Advanced Examples ==		== Advanced Examples ==
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	* Make an subdirectory in the Flight_plan directory with your own name and add your flight plans there. Make sure that the location of the DTD is correct, e.g by using relative directory double dots as in <tt><!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd"></tt>		* Make an subdirectory in the Flight_plan directory with your own name and add your flight plans there. Make sure that the location of the DTD is correct, e.g by using relative directory double dots as in <tt><!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd"></tt>

	* Take a good look at other flight plans included with Paparazzi. To learn from example flight plans please visit the [[Flight_Plan_Examples\|flight plan examples]] page
	* There are several option to build failsafe features into you flightplan, [[Failsafe\|for some examples visit the Failsafe page]].		* There are several option to build failsafe features into you flightplan, [[Failsafe\|for some examples visit the Failsafe page]].
	* Some flight plan examples define waypoint locations using relative coordinates. These are relative positions from the fixed lat and lon in the header of the flight plan. When simulating your flight plan the aircraft always use the lat/lon as defined in the flight plan since a regular simulation has no notion of you current position of you local PC where you simulate on. This is something to keep in mind if you test your flight plan in real flights.		* Some flight plan examples define waypoint locations using relative coordinates. These are relative positions from the fixed lat and lon in the header of the flight plan. When simulating your flight plan the aircraft always use the lat/lon as defined in the flight plan since a regular simulation has no notion of you current position of you local PC where you simulate on. This is something to keep in mind if you test your flight plan in real flights.

Tomvand: Fix typo

2017-11-28T10:46:59Z

Fix typo

← Older revision		Revision as of 04:46, 28 November 2017
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	== Modules ==		== Modules ==
	Additional modules can be added to the airframe using the ''modules'' element. The same syntax is used as in the ~~aiframe~~ file:		Additional modules can be added to the airframe using the ''modules'' element inside the flight plan. The same syntax is used as in the airframe file:

	<source lang="xml">		<source lang="xml">

Tomvand: Add modules section

2017-11-28T10:46:19Z

Add modules section

@@ Line 141: / Line 141: @@
 </source>
 They will appear under the '''Flight Plan''' settings tab in the GCS. So more attributes can be specified: '''shortname''', '''unit''', '''alt_unit''', '''alt_unit_coef''', '''values'''. See [[Settings]] page for more information about these options.
 == Includes ==

Openuas: /* Abide */

2017-10-31T14:41:03Z

Abide

← Older revision		Revision as of 08:41, 31 October 2017
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	The <tt>abide</tt> Here the UAS with try to abide at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.		The <tt>abide</tt> Here the UAS with try to abide at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.
	<source lang="xml"><abide wp="SAMPLEME" alt="95"/></source>		<source lang="xml"><abide wp="SAMPLEME" alt="95"/></source>

			''Note that you current Paparazzi version might not have this option yet.'', use stay as an alternative

	=== XYZ ===		=== XYZ ===

Openuas: /* Abide */

2017-10-31T14:36:32Z

Abide

← Older revision		Revision as of 08:36, 31 October 2017
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	=== Abide ===		=== Abide ===

	The <tt>abide</tt> Here the UAS with try to ~~stay~~ at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.		The <tt>abide</tt> Here the UAS with try to abide at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.
	<source lang="xml"><abide wp="SAMPLEME" alt="95"/></source>		<source lang="xml"><abide wp="SAMPLEME" alt="95"/></source>

Openuas: /* Abide */

2017-10-31T14:35:46Z

Abide

← Older revision		Revision as of 08:35, 31 October 2017
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	The <tt>abide</tt> Here the UAS with try to stay at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.		The <tt>abide</tt> Here the UAS with try to stay at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.
	<source lang="xml"><~~stay~~ wp="~~HOME~~" alt="10"/></source>		<source lang="xml"><abide wp="SAMPLEME" alt="95"/></source>

	=== XYZ ===		=== XYZ ===

Openuas at 14:17, 31 October 2017

2017-10-31T14:17:30Z

← Older revision		Revision as of 08:17, 31 October 2017
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	=== Stay ===		=== Stay ===

	The <tt>stay</tt> Here the UAS with try to stay at the waypoint as best as it can. For an aircraft capable of hovering it will just hang above the waypoint. For a fixedwing type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.		The <tt>stay</tt> Here the UAS with try to stay at the waypoint as best as it can. For an aircraft capable of hovering it will just hang above the waypoint. If the UAV has no hover capabilities,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.
			<source lang="xml"><stay wp="HOME" alt="10"/></source>

			=== Abide ===

			The <tt>abide</tt> Here the UAS with try to stay at the waypoint as best as it can. For an aircraft capable only capable of hovering it will just hang above the waypoint. For a fixedwing or a Hybrid type UAV,<tt>stay</tt> will mean the aircraft will constantly fly straight through the waypoint in a flower like pattern with the smallest turn radius it can manage.
	<source lang="xml"><stay wp="HOME" alt="10"/></source>		<source lang="xml"><stay wp="HOME" alt="10"/></source>

Openuas: /* Navigation modes */

2017-06-06T13:35:57Z

Navigation modes

← Older revision		Revision as of 07:35, 6 June 2017
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	* stay : hold the position (hard to realize for a fixed-wing aircraft);		* stay : hold the position (hard to realize for a fixed-wing aircraft);
	* follow : follow another aircraft;		* follow : follow another aircraft;
	* xyz : circle around a point moveable with the RC transmitter stick ~~(obsolete~~ with ~~the datalink).~~		* xyz : circle around a point where XY moveable with the RC transmitter stick, Z with other stick or slider

	The vertical control is achieved using the <tt>vmode</tt> attribute of these stages. The possible values are		The vertical control is achieved using the <tt>vmode</tt> attribute of these stages. The possible values are