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

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] Dropping items on target (reply)
Date: Fri, 24 Apr 2009 23:17:08 +0200
User-agent: Thunderbird (X11/20090318)


note that the equations hidden behind the sw/airborne/bomb.c are detailed in the MAV06 paper:


chris wrote:
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 name="Bomb Left" strip_button="Bomb L"strip_icon="kill.png">
     <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <deroute block="bomb"/>
   <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 name="align">
     <exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
   <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"/>

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