[Paparazzi-devel] auto landing

[chris]

Hi.
I used the below flight plan but knowing the glide characteristics of my 
plane and adjusting
how far the AF waypoint should be.
For my Easyglider the final approach is about 100 meters long until  TD.
The wind was about 3 m/s.
   <block name="land">
     <set value="0" var="h_ctl_disabled"/>
     <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, 
nav_radius)"/>
     <circle alt="ground_alt+10" radius="nav_radius" 
until="NavCircleCount() > 0.5" wp="BASELEG"/>
     <circle alt="ground_alt+10" radius="nav_radius" 
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
   </block>
   <block name="final">
     <exception cond="(ground_alt + 5) > estimator_z" deroute="flare"/>
     <go from="AF" hmode="route" vmode="glide" wp="TD"/>
   </block>
   <block name="flare">
     <go approaching_time="0" from="AF" hmode="route" pitch="3" 
throttle="0.0" vmode="throttle" wp="TD"/>
     <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
   </block>

I found the "compute_TOD()" function that does take in to account the wind
but i don't understand some of it's definitions.
It uses for example a definition   <define name="GLIDE_PITCH" value="45" 
unit="deg"/>
but 45 degrees of up pitch seems not logical.
I also don't understand what pitch="stage_time*(GLIDE_PITCH/3)" does.
Any ideas about how this function works?
Chris


   <block name="final">
     <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
     <call fun="compute_TOD(WP_AF, WP_TD, WP_TOD, GLIDE_AIRSPEED, 
GLIDE_VSPEED)"/>
     <go approaching_time="0" from="AF" hmode="route" wp="TOD"/>
     <go from="TOD" hmode="route" pitch="stage_time*(GLIDE_PITCH/3)" 
throttle="0" vmode="throttle" wp="TD"/>
   </block>
   <block name="flare">
     <go from="TOD" hmode="route" pitch="stage_time*(GLIDE_PITCH/3)" 
throttle="0" vmode="throttle" wp="TD"/>
     <attitude pitch="GLIDE_PITCH" roll="0.0" throttle="0.0" 
until="FALSE" vmode="throttle"/>
   </block>