/* $Id: Simple05FlightPlan.java 616 2010-11-07 11:58:37Z parizek $ * * This file is a part of jPapaBench providing a Java implementation * of PapaBench project. * Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz> * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * */ package papabench.core.commons.data.impl; import papabench.core.autopilot.conf.VerticalFlightMode; import papabench.core.autopilot.data.Position3D; import papabench.core.commons.conf.RadioConf; import papabench.core.commons.data.UTMPosition; import papabench.core.commons.data.impl.AbstractFlightPlan; import papabench.core.utils.PPRZUtils; /** * Simple flight plan - it does 4 navigation cycles. * * @author Michal Malohlava * */ public class Simple05FlightPlan extends AbstractFlightPlan { protected static final int GROUND_ALTITUDE = 125; protected static final int SECURE_ALTITUDE = 140; public String getName() { return "Simple 05 flight plan (4 navigation cycles)"; } public float getGroundAltitude() { return GROUND_ALTITUDE; } public float getSecureAltitude() { return SECURE_ALTITUDE; } @Override protected int getNumberOfNavBlocks() { return 1; } @Override protected int getNumberOfWaypoints() { return 2; } @Override protected void initNavigationBlocks() { addNavBlock(new NavigationBlock(2)) .addNavStage(new NavigationStage() { @Override protected void execute() { // launch airplane status().setLaunched(true); nextStage(); } }).addNavStage(new NavigationStage() { @Override protected void execute() { // climb for a while with course 15degrees and then switch to the next stage if (estimator.getFlightTime() > 4) { missionFinished(); } else { navigator().setDesiredCourse((float) Math.toRadians(15)); navigator().setAutoPitch(false); navigator().setDesiredPitch(0.15f); status.setVerticalFlightMode(VerticalFlightMode.AUTO_GAZ); navigator().setDesiredGaz((int) PPRZUtils.trimuPPRZ(0.8f * RadioConf.MAX_PPRZ)); } } }); } @Override protected void initWaypoints() { addWaypoint(new Position3D(0f, 0f, 200f)); // 0 addWaypoint(new Position3D(115f, -75f, 200f)); // 1 } @Override protected UTMPosition getCenterUTMPosition() { return null; } }