/* $Id$
*
* 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.LogUtils;
import papabench.core.utils.PPRZUtils;
/**
* This is a modification of flight plan 3.
*
* @see Simple03FlightPlan
*
* @author Michal Malohlava
*
*/
public class Simple06FlightPlan extends AbstractFlightPlan {
protected static final int GROUND_ALTITUDE = 125;
protected static final int SECURE_ALTITUDE = 150;
public String getName() {
return "Simple 06 flight plan";
}
public float getGroundAltitude() {
return GROUND_ALTITUDE;
}
public float getSecureAltitude() {
return SECURE_ALTITUDE;
}
@Override
protected int getNumberOfNavBlocks() {
return 2;
}
@Override
protected int getNumberOfWaypoints() {
return 7;
}
@Override
protected void initNavigationBlocks() {
/* navigation block 01 */
addNavBlock(new NavigationBlock(3))
.addNavStage(new NavigationStage() {
@Override
protected void execute() {
status().setLaunched(true);
nextStage();
}
}).addNavStage(new NavigationStage() {
@Override
protected void execute() {
if (estimator.getFlightTime() > 8) {
nextStage();
} 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));
}
}
}).addNavStage(new NavigationStage() {
@Override
protected void execute() {
LogUtils.log(this, "Estimator Z="+estimator.getPosition().z);
if (estimator.getPosition().z > getSecureAltitude()
|| estimator.getFlightTime() > 100) {
nextStage(); // --> nextBlock
} else {
navigator().setDesiredCourse((float) Math.toRadians(270));
navigator().setAutoPitch(false);
navigator().setDesiredPitch(0.0f);
status.setVerticalFlightMode(VerticalFlightMode.AUTO_CLIMB);
status.setClimb(8f);
}
}
});
/* navigation block 02 */
addNavBlock(new NavigationBlock(3)).addNavStage(new NavigationStage() { // stage 0
@Override
protected void execute() {
if (approaching(1)) {
LogUtils.log(this, "Current position: " + estimator.getPosition());
LogUtils.log(this, "WP 1 " + WP(1).toString() + " reached! Going to the next stage");
nextStageFrom(1);
} else {
flyToWP(1); // 0, 0, 200
navigator().setAutoPitch(false);
navigator().setDesiredPitch(0f);
status().setVerticalFlightMode(VerticalFlightMode.AUTO_ALTITUDE);
navigator().setDesiredAltitude(WPALT(1));
navigator().setPreClimb(0);
}
}
}).addNavStage(new NavigationStage() { // stage 1
@Override
protected void execute() {
if (approaching(4)) {
LogUtils.log(this, "Current position: " + estimator.getPosition());
LogUtils.log(this, "WP 4 " + WP(4).toString() + " reached! Going to the next stage");
nextStageFrom(4);
} else {
flyToWP(4); // 115,0,200
navigator().setAutoPitch(false);
navigator().setDesiredPitch(0f);
status().setVerticalFlightMode(VerticalFlightMode.AUTO_ALTITUDE);
navigator().setDesiredAltitude(WPALT(4));
navigator().setPreClimb(0);
}
}
}).addNavStage(new NavigationStage() { // stage 2
@Override
protected void execute() {
// ping 10 times between the points
if (estimator.getFlightTime() < 4000) {
gotoStage(0);
} else {
LogUtils.log(this, "Mission is DONE");
// finished mission
missionFinished();
}
}
});
}
@Override
protected void initWaypoints() {
addWaypoint(new Position3D(0f, 0f, 200f)); // 0
addWaypoint(new Position3D(0f, 0f, 200f)); // 1
addWaypoint(new Position3D(115f, -75f, 200f)); // 2
addWaypoint(new Position3D(156.7f, -41.7f, 200f)); // 3
addWaypoint(new Position3D(115, 0f, 200f)); // 4
addWaypoint(new Position3D(0f, -75f, 200f)); // 5
addWaypoint(new Position3D(-51.7f, -36.7f, 200f)); // 6
}
@Override
protected UTMPosition getCenterUTMPosition() {
return null;
}
}