<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Cam test (Enac)" 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="22.4" y="-15.9"/>
    <waypoint name="p2" x="60.5" y="-71.6"/>
    <waypoint name="p3" x="43.1" y="-83.1"/>
    <waypoint name="p4" x="2.7" y="-26.7"/>
    <waypoint height="2." 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()"/>
    </block>
    <block name="Holding point">
      <call fun="NavKillThrottle()"/>
      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
    </block>
    <block name="Start Engine">
      <call fun="NavResurrect()"/>
      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
    </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 climb="0.5" vmode="climb" 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 until="stage_time>10" wp="p2"/>
      <go from="p2" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="route dc shoot">
      <go wp="p1"/>
      <set value="DC_AUTOSHOOT_DISTANCE" var="dc_autoshoot"/>
      <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"/>
      <set value="DC_AUTOSHOOT_STOP" var="dc_autoshoot"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
      <set value="25" var="nav_radius"/>
      <call fun="dc_Circle(30)"/>
      <circle radius="nav_radius" until="NavCircleCount() > 1.0" wp="CAM"/>
      <call fun="dc_stop()"/>
      <deroute block="Standby"/>
    </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" until="FALSE" vmode="throttle"/>
    </block>
  </blocks>
</flight_plan>
