<!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="400" name="Booz 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="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="FLY1" x="200" y="200"/>
    <waypoint name="FLY2" x="200" y="-200"/>
    <waypoint name="FLY3" x="-200" y="-200"/>
    <waypoint name="FLY4" x="-200" y="200"/>
    <waypoint name="KILL1" x="280" y="280"/>
    <waypoint name="KILL2" x="280" y="-280"/>
    <waypoint name="KILL3" x="-280" y="-280"/>
    <waypoint name="KILL4" x="-280" y="280"/>
    <waypoint name="CAM" x="-20" y="-50" height="2."/>
    <waypoint name="TD" x="5.6" y="-10.9"/>
  </waypoints>
  <sectors>
    <sector color="orange" name="Flight_Area">
      <corner name="FLY1"/>
      <corner name="FLY2"/>
      <corner name="FLY3"/>
      <corner name="FLY4"/>
    </sector>
    <sector color="red" name="Kill">
      <corner name="KILL1"/>
      <corner name="KILL2"/>
      <corner name="KILL3"/>
      <corner name="KILL4"/>
    </sector>
  </sectors>
  <exceptions>
	<!-- Check inside Flight Area, then goto Standby -->
    <exception cond="Or(!InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 50) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('landed')) && !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
  </exceptions>
  <blocks>
    <block name="Wait GPS">
      <call_once fun="NavKillThrottle()"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call_once fun="NavSetGroundReferenceHere()"/>
      <!--<call_once fun="NavSetAltitudeReferenceHere()"/>-->
    </block>
    <block name="Holding point">
      <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="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
      <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
      <stay vmode="climb" climb="0.5" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png" pre_call="if(!InsideKill(GetPosX(), GetPosY())) NavKillThrottle();">
      <stay wp="STDBY"/>
    </block>
    <block name="stay_p1">
      <stay wp="p1"/>
    </block>
    <block name="go_p2">
      <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="p3"/>
      <go from="p3" hmode="route" wp="p4"/>
      <go from="p4" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="circle">
      <circle radius="nav_radius" wp="p1"/>
    </block>
    <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
      <call_once 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_once 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>
