<flight_plan ALT="450" GROUND_ALT="400" LAT0="52.524064" LON0="10.463673" MAX_DIST_FROM_HOME="1500" NAME="Generic" QFU="270" SECURITY_HEIGHT="25">
  <waypoints>
    <waypoint NAME="HOME" X="0" Y="0"/>
    <waypoint NAME="A" X="0" Y="0"/>
    <waypoint alt="450." name="B" x="82.9603178315" y="-3.44895799179"/>
    <waypoint alt="450." name="C" x="86.9956299706" y="227.662798247"/>
    <waypoint alt="450." name="D" x="-108.527546108" y="262.062632462"/>
    <waypoint alt="450." name="E" x="-245.588237877" y="118.201662172"/>
    <waypoint alt="450." name="F" x="-158.056513049" y="13.8008157052"/>
    <waypoint alt="450." name="NW" x="-280.219926928" y="90.5064002601"/>
    <waypoint alt="450." name="SW" x="-284.808277054" y="9.73393593822"/>
    <waypoint alt="450." name="SE" x="109.180675329" y="-13.3149076775"/>
    <waypoint alt="450." name="NE" x="108.972349582" y="73.5673930021"/>
  </waypoints>
  <blocks>
    <block NAME="wait GPS">
      <while COND="!GPS_FIX_VALID(gps_mode)"/>
    </block>
    <block NAME="init">
      <while COND="10 > block_time"/>
      <set VALUE="reset_nav_reference()" VAR="unit"/>
      <set VALUE="reset_waypoints()" VAR="unit"/>
      <deroute BLOCK="circlehome"/>
    </block>
    <block NAME="circlehome">
      <circle RADIUS="50" WP="HOME" wp_dist="50" wp_qdr="0"/>
    </block>
    <block NAME="ABCDEFAFEDCBA">
      <go approaching_time="1" wp="A"/>
      <go approaching_time="1" from="A" hmode="route" wp="B"/>
      <go approaching_time="1" from="B" hmode="route" wp="C"/>
      <go approaching_time="1" from="C" hmode="route" wp="D"/>
      <go approaching_time="1" from="D" hmode="route" wp="E"/>
      <go approaching_time="1" from="E" hmode="route" wp="F"/>
      <go approaching_time="1" from="F" hmode="route" wp="A"/>
      <go approaching_time="1" wp="A" wp_dist="20" wp_qdr="0"/>
      <go approaching_time="1" from="A" hmode="route" wp="F"/>
      <go approaching_time="1" from="F" hmode="route" wp="E"/>
      <go approaching_time="1" from="E" hmode="route" wp="D"/>
      <go approaching_time="1" from="D" hmode="route" wp="C"/>
      <go approaching_time="1" from="C" hmode="route" wp="B"/>
      <go approaching_time="1" from="B" hmode="route" wp="A"/>
      <deroute block="circlehome"/>
    </block>
    <block name="Detection">
      <go approaching_time="1" from="SW" hmode="route" wp="SE"/>
      <go approaching_time="1" from="NE" hmode="route" wp="NW"/>
    </block>
  </blocks>
</flight_plan>
