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## Re: [Paparazzi-devel] basic and versatile flight plan questions

 From: Tilman Baumann Subject: Re: [Paparazzi-devel] basic and versatile flight plan questions Date: Wed, 22 Aug 2012 10:10:29 +0100 User-agent: Mozilla/5.0 (X11; Linux i686; rv:14.0) Gecko/20120713 Thunderbird/14.0

```On 22/08/12 10:05, Gautier Hattenberger wrote:
```
```Hi Tilman,

```
I don't really understand why you need to do this. The second circle already has an until statement that says it will turn until your direction is towards the landing point and that your altitude (estimator_z) is within a range of 10 meters around the altitude of _BASELEG waypoint (10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)). So it means, that you start your final approach between 20 and 40 meters high if _BASELEG is set at 30 meters (usually the case). If this is too much, you can change the range of 10 to something smaller or lower baseleg (by changing AF altitude actually).
```
```
Oh, thanks for pointing this out. I tried in the simulator and the plane went straight in and out of the circle, even if it was very high. But I did not see the _BASELEG altitude rule really.
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I will try that again...
```
```Gautier

Le 13/08/2012 19:20, Tilman Baumann a écrit :
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First, I think I have a pretty nice improvement to the basic flight plan (versatile is the same here)
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```
My issue has been that my actual Touchdown position in Land depends very much on the approach altitude. The flight plan calculates the baseleg circle but does nothing to lower the approach.
```
I tested this in the sim and it works quite nice.
```
The plane enters the baseleg circle, but instead of exiting the circle directly towards AF it circles down to a altitude of 20m. It will circle until 30m are achieved and then exit the circle towards AF. This way a landing can be initialized at any time from any hight. (If 20m is a good choice is up to you. I would not expect any higher structures around a landing site)
```
<block name="land">
```
```</block>

The next thing is takeoff.
```
I have only tested it in versatile. It works in simulator, but in practice it climbs very little. I actually flew in a low tree when I launched in AUTO2. I don't quite understand how the climb is done in versatile. I suppose the only incentive to climb is the hight of the CLIMB waypoint. And it does not seem to climb very aggressive.
```
```
I have not tested AUTO2 launch with basic. But I can see that it has a very different approach to this. There a pitch is set. Which seems quite straight forward.
```I wonder, why the different ways? And which is actually better?
```
I feel a bit apprehensive to toss my plane on the ground at full throttle again. :)
```
Cheers
Tilman

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