<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
  <header/>
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="49.5" y="100.1"/>
    <waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
    <waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
  </waypoints>
  <modules>
    <module name="mission" type="fw"/>
  </modules>
  <exceptions/>
  <blocks>
    <block name="Wait GPS">
      <set value="1" var="autopilot.kill_throttle"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call_once fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <!--set var="nav_mode" value="NAV_MODE_ROLL"/-->
      <set value="1" var="autopilot.kill_throttle"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
      <set value="0" var="autopilot.kill_throttle"/>
      <set value="0" var="autopilot.flight_time"/>
      <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
    </block>
    <block key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png" group="home">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block name="Mission" strip_button="Mission">
      <call fun="mission_run()"/>
      <deroute block="Standby"/>
    </block>
    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png" group="land">
      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <deroute block="land"/>
    </block>
    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png" group="land">
      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
      <deroute block="land"/>
    </block>
    <block name="land">
      <call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
    </block>
    <block name="final">
      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
    </block>
    <block name="flare">
      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
    </block>
  </blocks>
</flight_plan>
