<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="100" ground_alt="54" lat0="52.3825204" lon0="5.897420" max_dist_from_home="1500" name="EMAV09" security_height="25">
  <header>
#include "datalink.h"
</header>
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="96.2" y="-36.2"/>
    <waypoint name="1" x="34.6" y="-31.9"/>
    <waypoint name="2" x="174.3" y="79.9"/>
    <waypoint name="MOB" x="418.5" y="208.7"/>
    <waypoint alt="104.0" name="CLIMB" x="-0.2" y="-97.2"/>
  </waypoints>

  <includes>
    <include name="Safety" procedure="EMAV2009_data.xml"/>
    <include name="Safety" procedure="EMAV2009_safety.xml"/>
    <include name="L" procedure="landing.xml"/>
  </includes>

  <exceptions/>
  <blocks>
    <block name="Holding point">
      <set value="1" var="kill_throttle"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <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="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>
  </blocks>
</flight_plan>
