XYPattern Task

Description

This task directs a vehicle through a series of waypoints. The series can be repeated a specified number of times. Each waypoint is specified with a LOCATION tag as is the case for the WayPointTask. The waypoints are executed in order of specification.

Publishes

EndFlags
EventFlags

Subscribes

StartFlags
NAV_X
NAV_Y
NAV_YAW

Configuration Block

Common Task Parameters
Thrust
- Syntax: Thrust = Thrust[0-100]
- Meaning: Set Thrust of pattern operation
- Example: Thrust = 10 go at ten percent throttle.
Location
- Syntax: Location = X,Y,Z
- Meaning: Set location of waypoint to X,Y,Z
- Example: Location = 15,-15,0 set one (of any number) way point goal at 15,-15,0
Radius
- Syntax: Radius = distance
- Meaning: Set radius of waypoint tolerance sphere to Radius meters
- Example: Radius = 10 Tolerance will be set to 10m
Repeat
- Syntax: Repeat = Number
- Meaning: set number of times to repeat waypoint pattern
- Example: Repeat = 10 repeat 10 times

Example Block

Task = XYPattern
{
	Name = XY1
	Priority = 3
	InitialState = ON
	TimeOut = 300
	FinishFlag = EndMission
	Thrust = 60
	Location = 0,30,0
	Location = 30,30,0
	Location = 0,30,0
	Radius = 8	
	Repeat = 3
}



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