<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="2" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (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="CAM" x="-20" y="-50" height="2."/>
    <waypoint name="TD" x="5.6" y="-10.9"/>
  </waypoints>
  <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()"/>
    </block>
    <block name="avoid">
      <attitude pitch="(ref_pitch)" roll="(ref_roll)" alt="2.5" vmode="alt" until="FALSE"/>
    </block>
  </blocks>
</flight_plan>
