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conf/flight_plans/example.xml

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+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan NAME="Example" LON0="???" MAX_DIST_FROM_HOME="???" GROUND_ALT="???" SECURITY_HEIGHT="25" QFU="???" ALT="???" LAT0="???">
+  <rc_control>
+    <mode NAME="AUTO1">
+      <setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
+      <setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_1_down" TYPE="int16"/>
+    </mode>
+    <mode NAME="AUTO2">
+      <setting VAR="course_pgain" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
+      <setting VAR="pitch_of_roll" RANGE=".2" RC="gain_1_down" TYPE="float"/>
+    </mode>
+  </rc_control>
+
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+  </waypoints>
+
+  <include name="up_and_down" procedure="circles.xml" x="00" y="100" rotate="0">
+    <arg name="bottom" value="GROUND_ALT+50"/>
+    <with from="event1" to="bh50.go"/>
+  </include>
+
+  <include name="bh50" procedure="bh.xml" x="0" y="200" rotate="0">
+   <arg name="height" value="50"/>
+   <with from="event1" to="bh30.go"/>
+   <with from="event2" to="circlehome"/>
+  </include>
+
+  <include name="bh30" procedure="bh.xml" x="0" y="200" rotate="0">
+   <arg name="height" value="30"/>
+   <with from="event1" to="circlehome"/>
+   <with from="event2" to="circlehome"/>
+  </include>
+
+  <blocks>
+    <block NAME="init">
+      <while COND="(!launch)"/>
+      <heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
+      <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
+      <deroute BLOCK="circlehome"/>
+    </block>
+    <block NAME="circlehome">
+      <exception COND="(RcEvent1())" DEROUTE="up_and_down.climb"/>
+      <circle WP="HOME" ALT="GROUND_ALT+50" RADIUS="75"/>
+    </block>
+  </blocks>
+</flight_plan>
+