<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Test Enac" security_height="2">
  <waypoints>
    <waypoint name="HOME" x="0.0" y="0.0"/>
    <waypoint name="CLIMB" x="0.0" y="5.0"/>
    <waypoint name="p1" x="3.6" y="-13.9"/>
    <waypoint name="p2" x="27.5" y="-48.2"/>
    <waypoint name="p3" x="16.7" y="-19.6"/>
    <waypoint name="p4" x="13.7" y="-40.7" height="6."/>
    <waypoint name="CAM" x="-20" y="-50" height="2."/>
    <waypoint name="blue" x="5" y="-5" height="5."/>
    <waypoint name="red"  x="10" y="-10" height="5."/>
  </waypoints>
  <blocks>
    <block name="Wait GPS">
      <call fun="NavKillThrottle()"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <call fun="NavKillThrottle()"/>
      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
    </block>
    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
      <exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)" deroute="Standby"/>
      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
      <call fun="NavResurrect()"/>
      <while cond="LessThan(NavBlockTime(), 3)"/>
      <stay height="4.0" vmode="alt" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <stay height="4.0" vmode="alt" wp="HOME"/>
    </block>
    <block name="stay_p1">
      <stay wp="p1"/>
    </block>
    <block name="go_p2">
      <go wp="p2"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="line_p1_p2">
      <go from="p1" hmode="route" wp="p2"/>
      <go from="p2" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="route">
      <go from="HOME" hmode="route" wp="p3"/>
      <go from="p3" hmode="route" wp="p4"/>
      <go from="p4" hmode="route" wp="HOME"/>
      <stay wp="HOME"/>
    </block>
    <block name="circle">
      <circle radius="nav_radius" wp="p1"/>
    </block>
    <block name="dropBlue">
      <go wp="blue"/>
      <call fun="NavDropNow()"/>
      <stay wp="blue"/>
    </block>
    <block name="dropRed">
      <go wp="red"/>
      <call fun="NavDropNow()"/>
      <stay wp="red"/>
    </block>
    <block name="land">
      <go wp="HOME"/>
    </block>
    <block name="flare">
      <exception cond="NavDetectGround()" deroute="Holding point"/>
      <call fun="NavStartDetectGround()"/>
      <stay climb="-0.8" vmode="climb" wp="HOME"/>
    </block>
  </blocks>
</flight_plan>
