<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="1.5" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Vision" security_height="0.5">
  <waypoints>
    <waypoint name="HOME" x="0.0" y="0.0"/>
  </waypoints>
  <blocks>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 3)"/>
      <call_once fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <!--exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(1.)" deroute="Standby"/-->
      <call_once fun="NavKillThrottle()"/>
      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
    </block>
    <block name="Start Engine">
      <call_once fun="NavResurrect()"/>
      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <stay wp="HOME"/>
    </block>
    <block name="land">
      <go wp="HOME"/>
    </block>
    <block name="flare">
      <exception cond="NavDetectGround()" deroute="Holding point"/>
      <call_once fun="NavStartDetectGround()"/>
      <stay climb="nav_descend_vspeed" vmode="climb" wp="HOME"/>
    </block>
  </blocks>
</flight_plan>
