<!DOCTYPE procedure SYSTEM "flight_plan.dtd">

<procedure>
  <param name="kill_pitch"/>

  <waypoints>
    <waypoint NAME="BACK" X="0" Y="0"/>
  </waypoints>

  <exceptions>
    <exception cond="And(block_time>20, dist2_to_home > 500.*500.)" deroute="home"/>
    <exception cond="And(block_time>20, dist2_to_home > 600.*600.)" deroute="kill"/>
    <exception cond="And(launch, gps_lost)" deroute="kill"/>
  </exceptions>

  <blocks>
    <block name="home">
      <circle wp="BACK" radius="50"/>
    </block>

    <block name="kill">
      <go wp="BACK" vmode="throttle" throttle="0" pitch="kill_pitch"/>
    </block>

  </blocks>
</procedure>
