[Paparazzi-devel] Re: Optimized landing block

[Reto Büttner]

Hi guys,

can someone double check on this and integrate it into the basic
landing block on git. The same landing block is in versatile and many
other example flight plans and should be corrected.

Cheers,
Reto

2011/2/25 Reto Büttner <address@hidden>:
> Hi guys,
>
> I guess I have found a small bug in the basic paparazzi landing block
> (basic.xml). The original is:
>
> <block name="land">
>      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
>      <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
> wp="_BASELEG"/>
>      <circle radius="nav_radius"
> until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 >
> fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
>    </block>
>
> This works fine for a right landing, but it does not align nicely on a
> left landing. Therefore I use:
>
>    <block name="land">
>      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
>      <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
> wp="_BASELEG"/>
>      <circle radius="nav_radius"
> until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*20),
> 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
>    </block>
>
> Works fine for me. If someone else could test this and integrate it
> into the basic landing block on git.
>
> Cheers,
> Reto
>