<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="3" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="100" name="MavTec Outdoor Demo" security_height="2">
  <header>
#include "autopilot.h"
  </header>
  <waypoints>
    <waypoint name="HOME" x="0.0" y="0.0"/>
    <waypoint name="CLIMB" x="0.0" y="5.0"/>
    <waypoint name="STDBY" x="-2.0" 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"/>
    <waypoint name="CAM" x="-20" y="-50"/>
    <waypoint name="TD" x="5.6" y="-10.9"/>
  </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()"/>
      <!--<call fun="NavSetAltitudeReferenceHere()"/>-->
    </block>
    <block name="Holding point">
      <call fun="NavKillThrottle()"/>
      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
    </block>
    <block name="Start Engine">
      <call fun="NavResurrect()"/>
      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
    </block>
    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
      <stay vmode="climb" climb="0.5" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <stay wp="STDBY"/>
    </block>
    <block name="stay_p1">
      <stay wp="p1"/>
    </block>
    <block name="go_p2">
      <call fun="nav_set_heading_deg(90)"/>
      <go wp="p2"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="line_p1_p2">
      <go from="p1" hmode="route" wp="p2"/>
      <stay wp="p2" until="stage_time>10"/>
      <go from="p2" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="route">
      <go from="p1" hmode="route" wp="p2"/>
      <go from="p2" hmode="route" wp="p3"/>
      <go from="p3" hmode="route" wp="p4"/>
      <go from="p4" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
      <circle radius="10" wp="CAM"/>
    </block>
    <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
      <call fun="NavSetWaypointHere(WP_TD)"/>
    </block>
    <block name="land">
      <go wp="TD"/>
    </block>
    <block name="flare">
      <exception cond="NavDetectGround()" deroute="Holding point"/>
      <exception cond="!nav_is_in_flight()" deroute="landed"/>
      <call fun="NavStartDetectGround()"/>
      <stay climb="-0.8" vmode="climb" wp="TD"/>
    </block>
    <block name="landed">
      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
    </block>
  </blocks>
</flight_plan>
