<flight_plan SECURITY_HEIGHT="25" lat0="42.799347" lon0="1.665094" ground_alt="507" qfu="270" alt="550" max_dist_from_home="500" name="Sinsat">

  <waypoints>
    <waypoint Y="0" NAME="HOME" X="0"/>
  </waypoints>
  <blocks>
    <block NAME="init">
      <while COND="(!launch)"/>
      <heading THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="throttle"/>
      <heading PITCH="0.15" CLIMB="3.0" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)" VMODE="climb"/>
      <deroute BLOCK="circlehome"/>
    </block>
    <block NAME="circlehome">
      <circle WP="HOME" ALT="GROUND_ALT+50" RADIUS="75"/>
    </block>
  </blocks>
</flight_plan>

