<flight_plan ALT="130" GROUND_ALT="68" LAT0="52.26483" LON0="9.99394" MAX_DIST_FROM_HOME="1500" NAME="Gross Lobke, verschiedene Kreise" QFU="270" SECURITY_HEIGHT="60">
  <rc_control>
  </rc_control>
  <waypoints utm_x0="567831.0" utm_y0="5790955.0">
    <waypoint alt="130." lat="52.2649866942" lon="9.99401677286" name="HOME" x="15.0" y="5.0"/>
    <waypoint alt="130." name="1" x="-181.785735614" y="34.9692539535"/>
    <waypoint alt="130." name="2" x="130.143368186" y="90.3661855655"/>
    <waypoint alt="130." name="START" x="140.0885126006" y="35.7359798392"/>
    <waypoint alt="130." name="CR" x="0.0885126006" y="73.7359798392"/>
    <waypoint name="S1" x="-200" y="-200"/>
    <waypoint name="S2" x="300" y="400"/>
  </waypoints>
  <blocks>
    <block NAME="start">
      <attitude roll="0" pitch="0.1" vmode="throttle" throttle="0.7" until="(estimator_flight_time > 5)"/>
      <go wp="START"/>
    </block>
    <block NAME="east">
      <go target="2" APPROACHING_TIME="2" HMODE="route" WP="2" from="1"/>
      <deroute block="west"/>
    </block>
    <block NAME="west">
      <go target="1" APPROACHING_TIME="2" HMODE="route" WP="1" from="2"/>
      <deroute block="east"/>
    </block>
    <block NAME="east t">
      <go target="2" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="2" from="1"/>
      <deroute block="west t"/>
    </block>
    <block NAME="west t">
      <go target="1" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="1" from="2"/>
      <deroute block="east t"/>
    </block>
    <block NAME="clock">
      <circle wp="CR" radius="90"/>
    </block>
    <block NAME="counter">
      <circle wp="CR" radius="-90"/>
    </block>
    <block name="survey">
      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
    </block>
    <block NAME="roll" strip_button="Roll">
     <set value="TRUE" var="h_ctl_disabled"/>
     <set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
     <while cond="3.> stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
     <set value="FALSE" var="h_ctl_disabled"/>
     <return/>
    </block>
  </blocks>
</flight_plan>
