<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="1450" ground_alt="1350" lat0="41.820661" lon0="-111.987935" max_dist_from_home="1500" name="Basic" security_height="25">
  <header>
#include "nav_line.h"
#include "datalink.h"
</header>
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="49.5" y="100.1"/>
    <waypoint name="1" x="61.1" y="-227.6"/>
    <waypoint name="2" x="51.7" y="243.8"/>
    <waypoint name="MOB" x="137.0" y="-11.6"/>
    <waypoint name="S1" x="-131.2" y="-154.4"/>
    <waypoint name="S2" x="304.7" y="242.1"/>
    <waypoint name="S3" x="-800" y="-800"/>
    <waypoint name="S4" x="800" y="800"/>
    <waypoint name="S5" x="800" y="-800"/>
    <waypoint name="AF" x="177.4" y="45.1" alt="1380"/>
    <waypoint name="TD" x="28.8" y="57.0" alt="1350"/>
    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
  </waypoints>
  <exceptions/>
  <blocks>
    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="estimator_flight_time"/>
      <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
      <eight center="1" radius="nav_radius" turn_around="2"/>
    </block>
    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
      <oval p1="1" p2="2" radius="nav_radius"/>
    </block>
    <block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
      <call fun="NavSetWaypointHere(WP_MOB)"/>
      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <circle radius="nav_radius" wp="MOB"/>
    </block>
    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
      <exception cond="datalink_time > 22" deroute="Standby"/>
      <call fun="nav_line_init()"/>
      <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
    </block>
    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
      <survey_rectangle grid="35" wp1="S1" wp2="S2"/>
    </block>
    <block name="Line S4-5" strip_button="Line (S 4-5)">
      <exception cond="datalink_time > 22" deroute="Standby"/>
      <call fun="nav_line_init()"/>
      <call fun="nav_line(WP_S4, WP_S5, nav_radius)"/>
    </block>
    <block name="Steps roll -10, +10">
      <while cond="TRUE">
        <attitude alt="1410" roll="10.0" until=" stage_time > 6" vmode="alt"/>
        <attitude alt="1410" roll="-10.0" until="stage_time > 6" vmode="alt"/>
      </while>
    </block>
    <block name="Steps roll -20, +20">
      <while cond="TRUE">
        <attitude alt="1410" roll="20.0" until=" stage_time > 3" vmode="alt"/>
        <attitude alt="1410" roll="-20.0" until="stage_time > 3" vmode="alt"/>
      </while>
    </block>
    <block name="Steps pitch -10, +10">
      <while cond="TRUE">
        <attitude alt="1410" pitch="40" roll="0.0" vmode="alt"/>
        <set value="1" var="kill_throttle"/>
      </while>
      <set value="0" var="kill_throttle"/>
    </block>
    <block name="Survey S3-S4" strip_button="Survey (wp S3-S4)">
      <survey_rectangle grid="150" wp1="S3" wp2="S4"/>
    </block>
    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <deroute block="land"/>
    </block>
    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <deroute block="land"/>
    </block>
    <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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
    </block>
    <block name="final">
      <exception cond="ground_alt + 10 > 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" throttle="0.0" vmode="throttle" wp="TD"/>
      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
    </block>
  </blocks>
</flight_plan>
