<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
  <header>
#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="-58.3" y="128.6"/>
    <waypoint name="2" x="259.1" y="231.9"/>
    <waypoint alt="30.0" name="AF" x="203.5" y="-9.8"/>
    <waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
    <waypoint name="C1" x="16.9" y="155.6"/>
    <waypoint name="C2" x="104.8" y="127.1"/>
    <waypoint name="TARGET" x="28.0" y="23.9"/>
  </waypoints>
  <exceptions/>
  <blocks>
    <block name="Wait GPS">
      <set value="1" var="kill_throttle"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 1)"/>
      <call fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <set value="1" var="kill_throttle"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <block key="t" 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 key="<Control>a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block name="Poles 1" strip_button="Line (wp 1-2)" strip_icon="line.png">
      <call fun="nav_poles_init(WP_1, WP_2, WP_C1, WP_C2, nav_radius)"/>
      <oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
    </block>
    <block name="Goto Target">
      <go wp="TARGET" approaching_time="0"/>
    </block>
    <block name="Drop">
      <set value="MIN_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
    </block>
    <block name="Poles 2">
      <oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
   </block>

    <block name="Auto pitch (circle wp 1)">
      <circle pitch="auto" radius="nav_radius" throttle="0.45" wp="1"/>
    </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="And(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>
