diff --git a/conf/flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml b/conf/flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml
index b518375825..51b0358ff4 100644
--- a/conf/flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml
+++ b/conf/flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml
@@ -37,7 +37,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/ENAC/crazyflie_multi_ranger_test.xml b/conf/flight_plans/ENAC/crazyflie_multi_ranger_test.xml
index 3de84b393f..48e9e27ddc 100644
--- a/conf/flight_plans/ENAC/crazyflie_multi_ranger_test.xml
+++ b/conf/flight_plans/ENAC/crazyflie_multi_ranger_test.xml
@@ -76,7 +76,7 @@ static inline void obstacle_detection_cb(uint8_t sender_id __attribute__((unused
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Take off" strip_button="Takeoff" strip_icon="takeoff.png" group="home">
-      <exception cond="stateGetPositionEnu_f()->z @GT 0.6" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 0.6" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_STDBY)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="STDBY"/>
     </block>
@@ -101,7 +101,7 @@ static inline void obstacle_detection_cb(uint8_t sender_id __attribute__((unused
       <go wp="TD"/>
     </block>
     <block name="Land Target" strip_button="Land Target" group="target">
-      <exception cond="stateGetPositionEnu_f()->z @LT 0.3" deroute="Ramp down"/>
+      <exception cond="GetPosHeight() @LT 0.3" deroute="Ramp down"/>
       <exception cond="!nav_is_in_flight()" deroute="Kill Engine"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/ENAC/dw1000_basic.xml b/conf/flight_plans/ENAC/dw1000_basic.xml
index 87606cf96e..5afceaf759 100644
--- a/conf/flight_plans/ENAC/dw1000_basic.xml
+++ b/conf/flight_plans/ENAC/dw1000_basic.xml
@@ -37,7 +37,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -50,8 +50,8 @@
     </block>
     <block name="Start Shift Tracking">
       <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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="Run Shift Tracking" pre_call="shift_tracking_run(&nav_shift)">
       <call_once fun="shift_tracking_reset()"/>
@@ -70,11 +70,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/ENAC/fish_outdoor.xml b/conf/flight_plans/ENAC/fish_outdoor.xml
index 0d4744b3ea..0f3727f5cc 100644
--- a/conf/flight_plans/ENAC/fish_outdoor.xml
+++ b/conf/flight_plans/ENAC/fish_outdoor.xml
@@ -44,16 +44,16 @@
     <variable init="0.1" var="fp_throttle"/>
   </variables>
   <exceptions>
-    <exception cond="(datalink_time > 5 @AND
-      !(IndexOfBlock('Takeoff') > nav_block) @AND
+    <exception cond="(datalink_time @GT 5 @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
       !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land"/>
     <exception cond="(!InsideNet(GetPosX(),GetPosY())  @AND
-      !(IndexOfBlock('Takeoff') > nav_block) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
       !(nav_block >= IndexOfBlock('Landed')) @AND
       (autopilot_in_flight() == true) )" deroute="EmergencyLanding"/>
-    <exception cond="(stateGetPositionEnu_f()->z @GT 50 @AND
-      !(IndexOfBlock('Takeoff') > nav_block) @AND
+    <exception cond="(GetPosHeight() @GT 50 @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
       !(nav_block >= IndexOfBlock('Landed')) @AND
       (autopilot_in_flight() == true) )" deroute="EmergencyLanding"/>
   </exceptions>
@@ -94,7 +94,7 @@
       <go wp="TD"/>
     </block>
     <block name="flare">
-      <exception cond="stateGetPositionEnu_f()->z @LT 0.3" deroute="Ramp down"/>
+      <exception cond="GetPosHeight() @LT 0.3" deroute="Ramp down"/>
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/ENAC/fish_voliere.xml b/conf/flight_plans/ENAC/fish_voliere.xml
index 86d1d9a347..be5b859ecc 100644
--- a/conf/flight_plans/ENAC/fish_voliere.xml
+++ b/conf/flight_plans/ENAC/fish_voliere.xml
@@ -78,7 +78,7 @@
       <go wp="TD"/>
     </block>
     <block name="flare">
-      <exception cond="stateGetPositionEnu_f()->z @LT 0.3" deroute="Ramp down"/>
+      <exception cond="GetPosHeight() @LT 0.3" deroute="Ramp down"/>
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/HOOPERFLY/hooperfly_gsa_one.xml b/conf/flight_plans/HOOPERFLY/hooperfly_gsa_one.xml
index 89ef753789..291f008256 100644
--- a/conf/flight_plans/HOOPERFLY/hooperfly_gsa_one.xml
+++ b/conf/flight_plans/HOOPERFLY/hooperfly_gsa_one.xml
@@ -36,7 +36,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block group="init_control" name="Takeoff" strip_button="Takeoff" strip_icon="launch.png">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml
index 253eee5e73..7a5f3493bd 100644
--- a/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml
+++ b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml
@@ -36,7 +36,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block group="init_control" name="Takeoff" strip_button="Takeoff" strip_icon="launch.png">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
     </block>
@@ -87,21 +87,21 @@
     <block group="pano_control" name="go_HOV_Pano" strip_button="CW Pano" strip_icon="pano_run.png">
       <call_once fun="NavSetWaypointHere(WP_HOV)"/>
       <for var="i" from="1" to="12">
-        <heading alt="WaypointAlt(WP_HOV)" course="30 * $i" until="stage_time > 5"/>
+        <heading alt="WaypointAlt(WP_HOV)" course="30 * $i" until="stage_time @GT 5"/>
       </for>
       <deroute block="go_HOV_0"/>
     </block>
     <block group="spin_control" name="go_HOV_spin_clockwise" strip_button="Spin Clockwise" strip_icon="circle-right.png">
         <call_once fun="NavSetWaypointHere(WP_HOV)"/>
         <for var="i" from="1" to="3">
-            <heading alt="WaypointAlt(WP_HOV)" course="120 * $i" until="stage_time > 0"/>
+            <heading alt="WaypointAlt(WP_HOV)" course="120 * $i" until="stage_time @GT 0"/>
         </for>
         <deroute block="go_HOV_0"/>
     </block>
     <block group="spin_control" name="go_HOV_spin_counterclockwise" strip_button="Spin Counterclockwise" strip_icon="circle-left.png">
         <call_once fun="NavSetWaypointHere(WP_HOV)"/>
         <for var="i" from="1" to="3">
-            <heading alt="WaypointAlt(WP_HOV)" course="-120 * $i" until="stage_time > 0"/>
+            <heading alt="WaypointAlt(WP_HOV)" course="-120 * $i" until="stage_time @GT 0"/>
         </for>
         <deroute block="go_HOV_0"/>
     </block>
diff --git a/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_nocturnal.xml b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_nocturnal.xml
index 9fa8a68519..bfe36c138a 100644
--- a/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_nocturnal.xml
+++ b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_nocturnal.xml
@@ -36,7 +36,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block group="init_control" name="Takeoff" strip_button="Takeoff" strip_icon="launch.png">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
     </block>
@@ -87,21 +87,21 @@
     <block group="pano_control" name="go_HOV_Pano" strip_button="CW Pano" strip_icon="pano_run.png">
       <call fun="NavSetWaypointHere(WP_HOV)"/>
       <for var="i" from="1" to="12">
-        <heading alt="WaypointAlt(WP_HOV)" course="30 * $i" until="stage_time > 5"/>
+        <heading alt="WaypointAlt(WP_HOV)" course="30 * $i" until="stage_time @GT 5"/>
       </for>
       <deroute block="go_HOV_0"/>
     </block>
     <block group="spin_control" name="go_HOV_spin_clockwise" strip_button="Spin Clockwise" strip_icon="circle-right.png">
         <call fun="NavSetWaypointHere(WP_HOV)"/>
         <for var="i" from="1" to="3">
-            <heading alt="WaypointAlt(WP_HOV)" course="120 * $i" until="stage_time > 0"/>
+            <heading alt="WaypointAlt(WP_HOV)" course="120 * $i" until="stage_time @GT 0"/>
         </for>
         <deroute block="go_HOV_0"/>
     </block>
     <block group="spin_control" name="go_HOV_spin_counterclockwise" strip_button="Spin Counterclockwise" strip_icon="circle-left.png">
         <call fun="NavSetWaypointHere(WP_HOV)"/>
         <for var="i" from="1" to="3">
-            <heading alt="WaypointAlt(WP_HOV)" course="-120 * $i" until="stage_time > 0"/>
+            <heading alt="WaypointAlt(WP_HOV)" course="-120 * $i" until="stage_time @GT 0"/>
         </for>
         <deroute block="go_HOV_0"/>
     </block>
diff --git a/conf/flight_plans/OPENUAS/include_obc2014_mission.xml b/conf/flight_plans/OPENUAS/include_obc2014_mission.xml
index 57560201aa..b0c1ea6c64 100644
--- a/conf/flight_plans/OPENUAS/include_obc2014_mission.xml
+++ b/conf/flight_plans/OPENUAS/include_obc2014_mission.xml
@@ -151,7 +151,7 @@ TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
     <!-- If datalink is lost for more than 10 seconds and we are in launched state -->
 
     <!-- below for the real SnR --> <!--  TODO: if datalinkloss but still closeby move to commhold? strange better airfiledhome loiter IMHO -->
-    <exception cond="And((datalink_time/2) > 9, autopilot.launch > 0) && (!AircraftIsBooting())" deroute="CommsHoldLoiter"/> <!-- deroute="AirfieldHomeLoiter"/> -->
+    <exception cond="And((datalink_time/2) @GT 9, autopilot.launch @GT 0) @AND (!AircraftIsBooting())" deroute="CommsHoldLoiter"/> <!-- deroute="AirfieldHomeLoiter"/> -->
 
  <!--   <exception cond="if Joefoundandretunvalformticket deroute="Waitforjudges"/>-->
 
@@ -159,10 +159,10 @@ TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
     <!-- <exception cond="And(launch, gps_lost)" deroute="killengine" or test for heighht 40M or so/> -->
     <!-- see if we can get correct AP voltage -->
 
-    <!-- not used yet maybe switch it on <exception cond="10.0 > PowerVoltage()" deroute="Standby"/> -->
-    <!-- not used yet maybe switch it on <exception cond="11.0 > vsupply" deroute="Standby"/> -->
+    <!-- not used yet maybe switch it on <exception cond="10.0 @GT PowerVoltage()" deroute="Standby"/> -->
+    <!-- not used yet maybe switch it on <exception cond="11.0 @GT vsupply" deroute="Standby"/> -->
  <!--  is less safe and has less chance of AC recovery. It states battery LOW, not battery critical -->
-<!--  <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Setting_home_location')) && !(nav_block == IndexOfBlock('Holding_point') && !(nav_block == IndexOfBlock('Land')))" deroute="Land"/>-->
+<!--  <exception cond="electrical.bat_low @AND !(nav_block == IndexOfBlock('Setting_home_location')) @AND !(nav_block == IndexOfBlock('Holding_point') @AND !(nav_block == IndexOfBlock('Land')))" deroute="Land"/>-->
 <!--<TODO: Add somethin like pre_call="if (!InsideRed(GetPosX(), GetPosY())) NavKillThrottle();-->
   </exceptions>
 
@@ -186,7 +186,7 @@ TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
       <!-- IDEA Close the hatch so not able to insert payload before there is a 3D fix , however maybe not so handy anyhow since we need to wat be fre we can insert-->
       <!--  <set value="NavDropCloseHatch" var="unit"/> -->
       <!-- if no valid fix or gps accuracy> 15m or no AHRS , it a no-go wait-->
-      <while cond="!GpsFixValid() || gps.pacc > 1500 || stateIsAttitudeValid()"/>
+      <while cond="!GpsFixValid() || gps.pacc @GT 1500 || stateIsAttitudeValid()"/>
     </block>
 
 <!-- *********** Set the ground reference height and the home position *********** -->
@@ -276,7 +276,7 @@ TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
 
     <block name="Climb-Out">
       <!--<exception cond="rc_status==RC_REALLY_LOST" after 3 seconds and no IMU deroute="softlydown">if using RC stil on with a Auto2 mode switch-->
-      <attitude pitch="nav_takeoff_pitch_setting" roll="0" throttle="1.0" until="GetPosAlt() > ground_alt+40" vmode="throttle"/>
+      <attitude pitch="nav_takeoff_pitch_setting" roll="0" throttle="1.0" until="GetPosAlt() @GT ground_alt+40" vmode="throttle"/>
       <set var="v_ctl_auto_throttle_nominal_cruise_throttle" value="1.0" />
       <set var="v_ctl_auto_throttle_nominal_cruise_pitch" value="nav_takeoff_pitch_setting" />
     </block>
@@ -508,9 +508,9 @@ extern bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t e
     <block name="Land">
       <set value="nav_airspeed_nominal_setting" var="v_ctl_auto_airspeed_setpoint"/>
       <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="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
       <set value="nav_airspeed_landing_setting" var="v_ctl_auto_airspeed_setpoint"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 15 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
 
     <block name="Final">
@@ -555,13 +555,13 @@ mode must be activated. A controlled flight termination mode may be
 termination mode (Section 5.6).
 -->
 
-    <block name="CommsHoldLoiter" strip_button="CommsHold" strip_icon="recenter.png" group="Link" >  <!-- TODO other ICON -->
+    <block name="CommsHoldLoiter" strip_button="CommsHold" strip_icon="recenter.png" group="Link" @GT  <!-- TODO other ICON -->
       <!-- stop streaming thumbnails -->
       <!-- CDW set value="0" var="ticket_thumbnails"/ -->
       <!-- TODO: maybe set a little lower speed ? max endurence speed? -->
       <set value="nav_airspeed_nominal_setting" var="v_ctl_auto_airspeed_setpoint"/>
       <!-- Rules 2014 state a loiter of maximum 2 minutes = 120seconds is allowed -->
-      <exception cond="(stage_time > 120)" deroute="AirfieldHomeLoiter"/>
+      <exception cond="(stage_time @GT 120)" deroute="AirfieldHomeLoiter"/>
       <!-- resume if datalink is regained-->
       <!--TODO If the data link is regained prior to the conclusion of 2 minutes of loiter at
       Comms Hold the mission maybe continued otherwise any subsequent  TODO -->
@@ -574,7 +574,7 @@ termination mode (Section 5.6).
     </block>
 
     <block name="AirfieldHomeLoiter" strip_button="AirfieldHome" strip_icon="home.png" group="Link">
-      <exception cond="stage_time > 120" deroute="ConstantSlopeLandRightAFTD"/>
+      <exception cond="stage_time @GT 120" deroute="ConstantSlopeLandRightAFTD"/>
       <circle wp="AIRFIELDHOME" radius="nav_radius*1.5"/><!-- 1.5 x  mean it will be a bit bigger circle -->
     </block>
 
diff --git a/conf/flight_plans/OPENUAS/include_obc2014_safety.xml b/conf/flight_plans/OPENUAS/include_obc2014_safety.xml
index 59752053af..54f0ee3167 100644
--- a/conf/flight_plans/OPENUAS/include_obc2014_safety.xml
+++ b/conf/flight_plans/OPENUAS/include_obc2014_safety.xml
@@ -61,7 +61,7 @@
 
     <!-- Hard GeoFence -->
     <!-- TODO Maybe ADD aditional exception with 2 sec timer here just to be sure to avoid position GPS spikes or some other jitter issues -->
-    <exception cond="((!InsideMissionBoundary(GetPosX(), GetPosY())) || (InsideAirportForbidden(GetPosX(), GetPosY())) || (InsideAirportForbidden2(GetPosX(), GetPosY()))) && gps_has_been_good()" deroute="GeoFence"/>
+    <exception cond="((!InsideMissionBoundary(GetPosX(), GetPosY())) || (InsideAirportForbidden(GetPosX(), GetPosY())) || (InsideAirportForbidden2(GetPosX(), GetPosY()))) @AND gps_has_been_good()" deroute="GeoFence"/>
 
     <!-- Failure of Autopilot -->
     <!-- FTD will failsafe if no commands arrive during 100ms -->
@@ -70,17 +70,17 @@
     <!-- FTD will failsafe if no heartbeat arrives from AP (with GPS) during 100ms -->
 
     <!-- Soft Altitude GeoFence 2800ft MSL-->
-    <!-- RE_ENABLE CDW <exception cond="MoreThan(GetAmsl(), 2800) && gps_has_been_good()" deroute="AlmostHeightViolation" />-->
+    <!-- RE_ENABLE CDW <exception cond="MoreThan(GetAmsl(), 2800) @AND gps_has_been_good()" deroute="AlmostHeightViolation" />-->
 
     <!-- Hard Altitude GeoFence 3000ft MSL
     Removed: because: theoretically impossible to climb 200ft without engine.
     - Kill is as safe as Forcecrash, but happens lower.
     - Only option to reach hard geofence = sensor failure: then the plane IS NOT TOO high, but the engine will be killed.
-    <exception cond="MoreThan(GetAmsl(), 3000) && gps_has_been_good()" deroute="HeightViolation" />
+    <exception cond="MoreThan(GetAmsl(), 3000) @AND gps_has_been_good()" deroute="HeightViolation" />
     -->
 
     <!-- Case of loss of GPS AND loss of datalink -->
-    <exception cond="And(datalink_time > 10, !GpsFixValid())" deroute="DatalinkAndGpsFailure"/>
+    <exception cond="And(datalink_time @GT 10, !GpsFixValid())" deroute="DatalinkAndGpsFailure"/>
   </exceptions>
 
   <blocks>
diff --git a/conf/flight_plans/OPENUAS/openuas_nav_modules_test.xml b/conf/flight_plans/OPENUAS/openuas_nav_modules_test.xml
index 8edaca7bc3..300fb12ff8 100644
--- a/conf/flight_plans/OPENUAS/openuas_nav_modules_test.xml
+++ b/conf/flight_plans/OPENUAS/openuas_nav_modules_test.xml
@@ -49,7 +49,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="false" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -126,11 +126,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml b/conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml
index 61ccc10e2e..9c42734640 100644
--- a/conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml
+++ b/conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml
@@ -33,22 +33,22 @@ Your safe aircraft operation is *your* responsibility
   <exceptions>
  <!-- Check if battery voltage is low, then try to go to block Land. This is deemed better than to land at that very spot since that can be above something unknown,
   is less safe and has less chance of AC recovery. It states battery LOW, not battery critical -->
- <!--   <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>-->
-    <exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Emergency"/>
+ <!--   <exception cond="electrical.bat_low @AND !(nav_block == IndexOfBlock('Setting home location')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Land')) @AND !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>-->
+    <exception cond="electrical.bat_critical @AND !(nav_block == IndexOfBlock('Setting home location')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Land')) @AND !(nav_block == IndexOfBlock('Emergency'))" deroute="Emergency"/>
     <!-- No connection for some time in flight, then try to land -->
-    <exception cond="autopilot_in_flight() && datalink_time > 55 && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
+    <exception cond="autopilot_in_flight() @AND datalink_time @GT 55 @AND !(nav_block == IndexOfBlock('Setting home location')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Land')) @AND !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
     <!-- If somehow the AC isVALUEVALUE higher than initial ground position plus 60m, just land -->
- <!--tofix only in flight   <exception cond="GetPosAlt() > (GetAltRef() + 60)" deroute="Land"/> -->
+ <!--tofix only in flight   <exception cond="GetPosAlt() @GT (GetAltRef() + 60)" deroute="Land"/> -->
     <!-- No link for 20 seconds and no GPS valid position fix, but the AC can still hover...however no option to give commands, emergency landing -->
-  <!--  <exception cond="And(datalink_time > 20, !GpsFixValid()) && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Emergency"/>-->
+  <!--  <exception cond="And(datalink_time @GT 20, !GpsFixValid()) @AND !(nav_block == IndexOfBlock('Setting home location')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Emergency'))" deroute="Emergency"/>-->
     <!-- Check if outside a safety circle from where the drone started the climb, if outside come back to where climb was started, defer from default outside behaviour-->
-  <exception cond="(((((WaypointX(WP__CLIMB)) - GetPosX())*((WaypointX(WP__CLIMB)) - GetPosX()))) + ((((WaypointY(WP__CLIMB)) - GetPosY())*((WaypointY(WP__CLIMB)) - GetPosY())))) > (MAX_DIST_FROM_HOME*MAX_DIST_FROM_HOME) && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
+  <exception cond="(((((WaypointX(WP__CLIMB)) - GetPosX())*((WaypointX(WP__CLIMB)) - GetPosX()))) + ((((WaypointY(WP__CLIMB)) - GetPosY())*((WaypointY(WP__CLIMB)) - GetPosY())))) @GT (MAX_DIST_FROM_HOME*MAX_DIST_FROM_HOME) @AND !(nav_block == IndexOfBlock('Setting home location')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Land')) @AND !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
   </exceptions>
   <blocks>
     <block name="Setting home location"><!-- TODO: make sure there is an indicator in "ardrone2_simple.xml" GCS layout config screen displaying "Waiting for GPS position..."-->
       <call_once fun="NavKillThrottle()"/>
-<!-- if no valid fix or GPS accuracy > 11m or no AHRS , it's' a no-go, just wait TODO: timeout and message?-->
-    <!-- <while cond="!GpsFixValid() || gps.pacc > 1100 || stateIsAttitudeValid()"/>-->
+<!-- if no valid fix or GPS accuracy @GT 11m or no AHRS , it's' a no-go, just wait TODO: timeout and message?-->
+    <!-- <while cond="!GpsFixValid() || gps.pacc @GT 1100 || stateIsAttitudeValid()"/>-->
     <while cond="!GpsFixValid()"/>
 <!-- Additional wait to allow for better GPS data in the last secons before takeoff -->
       <while cond="LessThan(NavBlockTime(), 8)"/>
@@ -91,16 +91,16 @@ Altough Switching the mode to auto2/NAV from any other mode will reset nav_headi
       <set value="0" var="autopilot.flight_time"/>
       <!-- If take-off to first point takes to long to reach somehow because of some reason, abort flight -->
       <!-- todo test  various times -->
-     <exception cond="block_time > 560" deroute="Land"/>
+     <exception cond="block_time @GT 560" deroute="Land"/>
      <!-- To make sure that takoff is straight up to the height of first waypoint A, so no sideways take-off, since sideways movements starting at low height from takeoff can have nasty effects) -->
 <!-- In real life aircraft can be blown sideways with strong wind TODO experiment with results of 2 stages 2 -->
 <!-- TODO see if adding this 2nd stage is better -->
-   <!--  <attitude pitch="0" roll="0" throttle="0.90" until="stage_time > 2" vmode="throttle"/>-->
-<!--Alternative <exception cond="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" deroute="A_to_B_and_back"/>-->
+   <!--  <attitude pitch="0" roll="0" throttle="0.90" until="stage_time @GT 2" vmode="throttle"/>-->
+<!--Alternative <exception cond="WaypointAlt(WP_A) @GT GetPosHeight()" deroute="A_to_B_and_back"/>-->
 <!-- See http://lists.gnu.org/archive/html/paparazzi-devel/2014-06/msg00138.html -->
     <!--<call_once fun="GuidanceVSetRef(0,0,0)"/>-->
      <!--<call_once fun="nav_set_heading_current()"/>-->
-     <stay vmode="climb" climb="0.7" until="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" wp="_CLIMB"/>
+     <stay vmode="climb" climb="0.7" until="WaypointAlt(WP_A) @GT GetPosHeight()" wp="_CLIMB"/>
     </block>
 <!-- The From A to B and back, The only one visible block so no GCS choices to toy around with, a non expert would get confused -->
     <block key="m" name="From A to B and back">
@@ -109,7 +109,7 @@ Altough Switching the mode to auto2/NAV from any other mode will reset nav_headi
       <call_once fun="nav_set_heading_towards_waypoint(WP_B)"/>
       <go from="A" hmode="route" wp="B"/>
       <call_once fun="nav_set_heading_towards_waypoint(WP_A)"/>
-      <stay wp="B" until="stage_time > 3"/> <!-- Hang around for 3 seconds, any longer and people start get worried if all is OK...-->
+      <stay wp="B" until="stage_time @GT 3"/> <!-- Hang around for 3 seconds, any longer and people start get worried if all is OK...-->
       <go from="B" hmode="route" wp="A"/>
       <!-- to make sure the route height to touchdown is high not lower than on the first takeoff-->
    <!-- TODO: discuss this behaviour since it will look strange if drone first will climb to climb point and not decend when one presses land, perception difference-->
@@ -129,7 +129,7 @@ Altough Switching the mode to auto2/NAV from any other mode will reset nav_headi
     <block name="Emergency" key="e" strip_button="Emergency" strip_icon="home_emergency.png">
        <exception cond="!nav_is_in_flight()" deroute="landed"/>
    <!-- If landing would takes to long take drastic measures, kill everything -->
-     <!-- <exception cond="Block_time > 50" value="1" var="autopilot.kill_throttle"/>-->
+     <!-- <exception cond="Block_time @GT 50" value="1" var="autopilot.kill_throttle"/>-->
       <call_once fun="NavSetWaypointHere(WP__TDEMERGENCY)"/>
   <!--TODO: better test detect landing different surfaces and agles with sonar baro combi of AR-Drone 2 -->
       <call_once fun="NavStartDetectGround()"/>
diff --git a/conf/flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml b/conf/flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml
index 24bb580056..1e46bd1d3f 100644
--- a/conf/flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml
+++ b/conf/flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml
@@ -154,7 +154,7 @@ perhaps a few global alt exceptions? But where do they deroute to assuming the a
   <includes/>
   <!-- The exceptions section allows for global error and failsafe handling -->
   <exceptions>
-    <!-- <exception cond="datalink_time > 15" deroute="Standby"/> -->
+    <!-- <exception cond="datalink_time @GT 15" deroute="Standby"/> -->
   </exceptions>
   <!-- The blocks section contains each block of the flightplan, which actually make the aircraft do something -->
   <blocks>
@@ -173,7 +173,7 @@ perhaps a few global alt exceptions? But where do they deroute to assuming the a
     </block>
     <!-- need this for simulation, manual takeoff for real testing -->
     <block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
-      <exception cond="GetPosAlt() > (ground_alt+25)" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT (ground_alt+25)" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="1" var="autopilot.launch"/>
       <set value="0" var="autopilot.flight_time"/>
@@ -215,7 +215,7 @@ perhaps a few global alt exceptions? But where do they deroute to assuming the a
       </while>
     </block>
     <block name="Descent Auto Throttle Tuning">
-      <while cond="GetPosAlt() > (ground_alt + 25)">
+      <while cond="GetPosAlt() @GT (ground_alt + 25)">
       	<attitude roll="0.0" vmode="climb" climb="-V_CTL_ALTITUDE_MAX_CLIMB"/>
       </while>
     </block>
@@ -244,7 +244,7 @@ perhaps a few global alt exceptions? But where do they deroute to assuming the a
       </while>
     </block>
     <block name="Descent Auto Pitch Tuning">
-      <while cond="GetPosAlt() > (ground_alt + 25)">
+      <while cond="GetPosAlt() @GT (ground_alt + 25)">
       	<attitude roll="0.0" pitch="auto" throttle="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" vmode="climb" climb="-V_CTL_ALTITUDE_MAX_CLIMB"/>
       </while>
     </block>
diff --git a/conf/flight_plans/OPENUAS/openuas_versatile_unified.xml b/conf/flight_plans/OPENUAS/openuas_versatile_unified.xml
index 4a266c4bea..c8dd675fad 100644
--- a/conf/flight_plans/OPENUAS/openuas_versatile_unified.xml
+++ b/conf/flight_plans/OPENUAS/openuas_versatile_unified.xml
@@ -119,16 +119,16 @@ Should be unified for Hybrid, FW and rotorcraft
     <variable var="roll_step" init="15." min="0." max="50." step="1.0"/>
   </variables>
   <exceptions>
-    <exception cond="And((datalink_time) > 300, autopilot.launch > 0) " deroute="Standby"/>
-    <exception cond="LOW_BAT_LEVEL > PowerVoltage()" deroute="Standby"/>
-    <exception cond="Or(! InsideMissionBoundary(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 600) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Waiting for RC Transmitter')) && !(nav_block == IndexOfBlock('Takeoff')) && !(nav_block == IndexOfBlock('land')) && !(nav_block == IndexOfBlock('Final')) && !(nav_block == IndexOfBlock('Flare'))" deroute="Standby"/>
+    <exception cond="And((datalink_time) @GT 300, autopilot.launch @GT 0) " deroute="Standby"/>
+    <exception cond="LOW_BAT_LEVEL @GT PowerVoltage()" deroute="Standby"/>
+    <exception cond="Or(! InsideMissionBoundary(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 600) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Waiting for RC Transmitter')) @AND !(nav_block == IndexOfBlock('Takeoff')) @AND !(nav_block == IndexOfBlock('land')) @AND !(nav_block == IndexOfBlock('Final')) @AND !(nav_block == IndexOfBlock('Flare'))" deroute="Standby"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS" pre_call="NavKillThrottle()">
       <!-- Do Not Kill -->
       <!-- <call fun="Fly()"/>-->
       <!-- if no valid fix or gps accuracy> 15m or no AHRS , it a no-go wait-->
-      <!--<while cond="!GpsFixValid() || gps.pacc > 1500 || stateIsAttitudeValid()"/>-->
+      <!--<while cond="!GpsFixValid() || gps.pacc @GT 1500 || stateIsAttitudeValid()"/>-->
       <while cond="!GpsFixValid()"/>
       <!-- Wiggle Wiggle when we have GPS , time to fly...-->
       <!--<set var="ap_state->commands[COMMAND_YAW]" value="-MAX_PPRZ"/>
@@ -177,7 +177,7 @@ Should be unified for Hybrid, FW and rotorcraft
       <!-- <set var="ap_state->commands[COMMAND_LIGHT]" value="PPRZ_MAX"/> -->
       <set var="autopilot.kill_throttle" value="0"/>
       <!--<var="autopilot.launch" set value="1"  />-->
-      <while cond="1 > autopilot.launch"/> <!-- Setting of launch performed with takeoff_detect module disable -->
+      <while cond="1 @GT autopilot.launch"/> <!-- Setting of launch performed with takeoff_detect module disable -->
       <set var="autopilot.flight_time" value="0"/>
       <!--<call_once fun="AirbrakesOff()"/>-->
       <set var="v_ctl_auto_airspeed_setpoint" value="nav_airspeed_nominal_setting" /><!--or RACE_AIRSPEED? -->
@@ -187,7 +187,7 @@ Should be unified for Hybrid, FW and rotorcraft
     <block name="Climb-Out">
       <set var="v_ctl_speed_mode" value="V_CTL_SPEED_AIRSPEED"/>
       <!--<exception cond="rc_status==RC_REALLY_LOST" after 3 seconds and no IMU deroute="softlydown">if using RC still on with a Auto2 mode switch-->
-      <attitude pitch="nav_takeoff_pitch_setting" roll="0" throttle="1.0" until="GetPosAlt() > ground_alt+15" vmode="throttle"/>
+      <attitude pitch="nav_takeoff_pitch_setting" roll="0" throttle="1.0" until="GetPosAlt() @GT ground_alt+15" vmode="throttle"/>
       <set var="v_ctl_auto_throttle_nominal_cruise_throttle" value="1.0" />
 
       <!-- Only for ETECS <set var="v_ctl_auto_throttle_nominal_cruise_pitch" value="nav_takeoff_pitch_setting" />-->
@@ -214,7 +214,7 @@ Should be unified for Hybrid, FW and rotorcraft
       <deroute block="Standby"/>
     </block>
     <block name="SearchForTarget" strip_button="Searchtarget" strip_icon="survey.png" group="Scan">
-      <exception cond="block_time > 300" deroute="Standby"/> <!-- No patience, five minutes is enough for now... -->
+      <exception cond="block_time @GT 300" deroute="Standby"/> <!-- No patience, five minutes is enough for now... -->
       <call_once fun="nav_survey_polygon_setup(WP_SA1, 5, 45 , POLYSURVEY_DEFAULT_DISTANCE, 25, MIN_CIRCLE_RADIUS, GetAltRef()+40)"/>
       <call fun="nav_survey_polygon_run()"/>
     </block>
@@ -232,7 +232,7 @@ Should be unified for Hybrid, FW and rotorcraft
       <go wp="1"/>
       <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
       <set var="v_ctl_auto_airspeed_setpoint" value="RACE_AIRSPEED"/>
-      <oval p1="1" p2="2" radius="nav_radius*1.2" until="block_time > 180"/>
+      <oval p1="1" p2="2" radius="nav_radius*1.2" until="block_time @GT 180"/>
       <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
       <set var="v_ctl_auto_airspeed_setpoint" value="NOMINAL_AIRSPEED"/>
       <deroute block="Standby"/>
@@ -245,23 +245,23 @@ Should be unified for Hybrid, FW and rotorcraft
       <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
     </block>
     <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(LOW_BAT_LEVEL > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 600)" vmode="throttle" wp="1"/>
+      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(LOW_BAT_LEVEL @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 600)" vmode="throttle" wp="1"/>
     </block>
     <block name="Climb 0m/s">
-      <circle climb="0" radius="nav_radius" until="LOW_BAT_LEVEL > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="0" radius="nav_radius" until="LOW_BAT_LEVEL @GT PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb 1m/s">
-      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="LOW_BAT_LEVEL > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="LOW_BAT_LEVEL @GT PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(LOW_BAT_LEVEL > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 600)" vmode="climb" wp="1"/>
+      <circle climb="nav_climb" radius="nav_radius" until="(LOW_BAT_LEVEL @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 600)" vmode="climb" wp="1"/>
     </block>
     <block name="Circle 0% throttle">
-      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
+      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 @GT GetPosAlt()" vmode="throttle" wp="1"/>
       <deroute block="Standby"/>
     </block>
     <block name="Oval 0% throttle">
-      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
+      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 @GT GetPosAlt()" vmode="throttle"/>
       <deroute block="Standby"/>
     </block>
     <block name="Route 1-2">
@@ -294,10 +294,10 @@ Should be unified for Hybrid, FW and rotorcraft
     <!-- ALT
     <block key="<control>l" 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="NavCircleCount() @GT 0.5" wp="BASELEG"/>
       <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" />
       <set var="v_ctl_auto_airspeed_setpoint" value="MINIMUM_AIRSPEED"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>-->
 
  <!-- *********** Land *********** -->
@@ -322,15 +322,15 @@ Should be unified for Hybrid, FW and rotorcraft
     <block name="land">
       <set value="nav_airspeed_nominal_setting" var="v_ctl_auto_airspeed_setpoint"/>
       <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="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
       <set value="nav_airspeed_landing_setting" var="v_ctl_auto_airspeed_setpoint"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 15 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
 
     <block name="Final">
       <!--<call_once fun="AirbrakesOn()"/>-->
       <go approaching_time="6" from="AF" hmode="route" wp="TD"/>
-      <!--TODO: until="1.0 > agl_dist_value_filtered"/>-->
+      <!--TODO: until="1.0 @GT agl_dist_value_filtered"/>-->
     </block>
 
     <block name="Flare">
@@ -344,26 +344,26 @@ Should be unified for Hybrid, FW and rotorcraft
     <!-- Extras -->
     <block name="Steps roll -10, +10">
       <while cond="TRUE">
-        <attitude alt="GetPosAlt()" roll="10.0" until=" stage_time > 6" vmode="alt"/>
-        <attitude alt="GetPosAlt()" roll="-10.0" until="stage_time > 6" vmode="alt"/>
+        <attitude alt="GetPosAlt()" roll="10.0" until=" stage_time @GT 6" vmode="alt"/>
+        <attitude alt="GetPosAlt()" roll="-10.0" until="stage_time @GT 6" vmode="alt"/>
       </while>
     </block>
     <block name="Steps roll -20, +20">
       <while cond="TRUE">
-        <attitude alt="GetPosAlt()" roll="20.0" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="GetPosAlt()" roll="-20.0" until="stage_time > 3" vmode="alt"/>
+        <attitude alt="GetPosAlt()" roll="20.0" until=" stage_time @GT 3" vmode="alt"/>
+        <attitude alt="GetPosAlt()" roll="-20.0" until="stage_time @GT 3" vmode="alt"/>
       </while>
     </block>
     <block name="Steps roll from var">
       <while cond="TRUE">
-        <attitude alt="GetPosAlt()" roll="roll_step" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="GetPosAlt()" roll="-roll_step" until="stage_time > 3" vmode="alt"/>
+        <attitude alt="GetPosAlt()" roll="roll_step" until=" stage_time @GT 3" vmode="alt"/>
+        <attitude alt="GetPosAlt()" roll="-roll_step" until="stage_time @GT 3" vmode="alt"/>
       </while>
     </block>
     <block name="Steps pitch -10, +10">
       <while cond="TRUE">
-        <attitude alt="GetPosAlt()" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-        <attitude alt="GetPosAlt()" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
+        <attitude alt="GetPosAlt()" pitch="10" roll="0.0" until=" stage_time @GT 2" vmode="alt"/>
+        <attitude alt="GetPosAlt()" pitch="-10" roll="0.0" until=" stage_time @GT 2" vmode="alt"/>
       </while>
     </block>
     <block name="Heading 30">
@@ -371,7 +371,7 @@ Should be unified for Hybrid, FW and rotorcraft
     </block>
     <block name="For loop (circles wp 1)">
       <for from="0" to="3" var="i">
-        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
+        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() @GT 1"/>
       </for>
       <deroute block="Standby"/>
     </block>
@@ -380,7 +380,7 @@ Should be unified for Hybrid, FW and rotorcraft
       <call fun="nav_flower_run()"/>
     </block>
     <block name="Test datalink (go to wp 2)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <go from="STDBY" hmode="route" wp="2"/>
       <go from="2" hmode="route" wp="STDBY"/>
     </block>
@@ -403,7 +403,7 @@ Should be unified for Hybrid, FW and rotorcraft
     <block name="Terrain hugging">
       <oval p1="1" p2="2" radius="nav_radius"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <!--TODO: until="7.0 > agl_dist_value_filtered"/>-->
+      <!--TODO: until="7.0 @GT agl_dist_value_filtered"/>-->
     </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/basic.xml b/conf/flight_plans/basic.xml
index cb73ebf8bd..9b34ac7e54 100644
--- a/conf/flight_plans/basic.xml
+++ b/conf/flight_plans/basic.xml
@@ -18,7 +18,7 @@
     <waypoint name="CLIMB" x="-114.5" y="162.3"/>
   </waypoints>
   <exceptions>
-    <!--exception cond="datalink_time > 22" deroute="Standby"/-->
+    <!--exception cond="datalink_time @GT 22" deroute="Standby"/-->
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -35,7 +35,7 @@
       <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"/>
+      <exception cond="GetPosAlt() @GT 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"/>
@@ -72,11 +72,11 @@
     </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="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
       <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND (fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)) @LT 10)" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/basic_sim.xml b/conf/flight_plans/basic_sim.xml
index 9a075d5163..bbef71daa6 100644
--- a/conf/flight_plans/basic_sim.xml
+++ b/conf/flight_plans/basic_sim.xml
@@ -19,7 +19,7 @@
     <waypoint name="CLIMB" x="-114.5" y="162.3"/>
   </waypoints>
   <exceptions>
-    <!--exception cond="datalink_time > 22" deroute="Standby"/-->
+    <!--exception cond="datalink_time @GT 22" deroute="Standby"/-->
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -33,10 +33,10 @@
     <block name="Holding point">
       <set value="1" var="autopilot.kill_throttle"/>
       <attitude roll="0" throttle="0" vmode="throttle"/>
-      <exception cond="NavBlockTime() > 10" deroute="Takeoff"/>
+      <exception cond="NavBlockTime() @GT 10" deroute="Takeoff"/>
     </block>
     <block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <set value="1" var="launch"/>
@@ -46,19 +46,19 @@
     </block>
     <block key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png" group="home">
       <circle radius="nav_radius" wp="STDBY"/>
-      <exception cond="NavBlockTime() > 30" deroute="Figure 8 around wp 1"/>
+      <exception cond="NavBlockTime() @GT 30" deroute="Figure 8 around wp 1"/>
     </block>
     <block key="F8" name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="base_pattern">
       <eight center="1" radius="nav_radius" turn_around="2"/>
-      <exception cond="NavBlockTime() > 120" deroute="Oval 1-2"/>
+      <exception cond="NavBlockTime() @GT 120" deroute="Oval 1-2"/>
     </block>
     <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png" group="base_pattern">
       <oval p1="1" p2="2" radius="nav_radius"/>
-      <exception cond="NavBlockTime() > 90" deroute="Survey S1-S2"/>
+      <exception cond="NavBlockTime() @GT 90" deroute="Survey S1-S2"/>
     </block>
     <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" group="extra_pattern">
       <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
-      <exception cond="NavBlockTime() > 180" deroute="Path 1,2,S1,S2,STDBY"/>
+      <exception cond="NavBlockTime() @GT 180" deroute="Path 1,2,S1,S2,STDBY"/>
     </block>
     <block name="Path 1,2,S1,S2,STDBY" strip_button="Path (1,2,S1,S2,STDBY)" strip_icon="path.png" group="extra_pattern">
       <path wpts="1,2 S1"/>
@@ -69,7 +69,7 @@
       <call_once fun="NavSetWaypointHere(WP_MOB)"/>
       <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
       <circle radius="nav_radius" wp="MOB"/>
-      <exception cond="NavBlockTime() > 90" deroute="Land Right AF-TD"/>
+      <exception cond="NavBlockTime() @GT 90" deroute="Land Right AF-TD"/>
     </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"/>
@@ -77,11 +77,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/competitions/EMAV2006.xml b/conf/flight_plans/competitions/EMAV2006.xml
index b6b9cb83d0..12116ac93d 100644
--- a/conf/flight_plans/competitions/EMAV2006.xml
+++ b/conf/flight_plans/competitions/EMAV2006.xml
@@ -17,7 +17,7 @@
       <while COND="!GPS_FIX_VALID(gps_mode)"/>
     </block>
     <block NAME="init">
-      <while COND="10 > block_time"/>
+      <while COND="10 @GT block_time"/>
       <set VALUE="reset_nav_reference()" VAR="unit"/>
       <set VALUE="reset_waypoints()" VAR="unit"/>
       <deroute BLOCK="circlehome"/>
diff --git a/conf/flight_plans/competitions/EMAV2008.xml b/conf/flight_plans/competitions/EMAV2008.xml
index 751a41f5dd..cb29bb4c35 100644
--- a/conf/flight_plans/competitions/EMAV2008.xml
+++ b/conf/flight_plans/competitions/EMAV2008.xml
@@ -35,7 +35,7 @@
   </waypoints>
   <sectors/>
   <exceptions>
-    <exception cond="datalink_time > 60" deroute="Standby"/>
+    <exception cond="datalink_time @GT 60" deroute="Standby"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -47,7 +47,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+40" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+40" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <go wp="CLIMB"/>
     </block>
@@ -66,7 +66,7 @@
       <circle radius="100" wp="MOB"/>
     </block>
     <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <call fun="nav_line_setup()"/>
       <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
     </block>
@@ -83,14 +83,14 @@
     </block>
     <block name="land">
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 15 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
-<!--      <exception cond="GetAltRef() + 6 > GetPosAlt()" deroute="flare"/> -->
+<!--      <exception cond="GetAltRef() + 6 @GT GetPosAlt()" deroute="flare"/> -->
       <go approaching_time="0" from="AF" hmode="route" wp="SF"/>
     </block>
     <block name="shortfinal">
-<!--      <exception cond="GetAltRef() + 6 > GetPosAlt()" deroute="flare"/> -->
+<!--      <exception cond="GetAltRef() + 6 @GT GetPosAlt()" deroute="flare"/> -->
       <go approaching_time="0" from="SF" hmode="route" wp="TD"/>
     </block>
     <block name="flare">
@@ -99,7 +99,7 @@
 <!--      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/> -->
     </block>
     <block name="Test datalink (go to wp 2)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <go from="STDBY" hmode="route" wp="2"/>
       <go from="2" hmode="route" wp="STDBY"/>
     </block>
@@ -112,10 +112,10 @@
       <deroute block="Standby"/>
     </block>
     <block name="Circle 1">
-      <exception cond="datalink_time > 25" deroute="Standby"/>
-      <circle alt="WaypointAlt(WP_1)" radius="nav_radius" until="15 > fabs(GetPosAlt() - WaypointAlt(WP_1))" wp="STDBY"/>
+      <exception cond="datalink_time @GT 25" deroute="Standby"/>
+      <circle alt="WaypointAlt(WP_1)" radius="nav_radius" until="15 @GT fabs(GetPosAlt() - WaypointAlt(WP_1))" wp="STDBY"/>
       <go alt="WaypointAlt(WP_1)" approaching_time="-15" from="STDBY" hmode="route" wp="1"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.7" wp="1"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.7" wp="1"/>
       <go alt="WaypointAlt(WP_1)" approaching_time="-15" from="1" hmode="route" wp="STDBY"/>
       <deroute block="Standby"/>
     </block>
diff --git a/conf/flight_plans/competitions/EMAV2009.xml b/conf/flight_plans/competitions/EMAV2009.xml
index b21ad27533..d06cef9b1a 100644
--- a/conf/flight_plans/competitions/EMAV2009.xml
+++ b/conf/flight_plans/competitions/EMAV2009.xml
@@ -26,7 +26,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot_flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
diff --git a/conf/flight_plans/competitions/EMAV2009_safety.xml b/conf/flight_plans/competitions/EMAV2009_safety.xml
index 12c7648b4e..302c78edc1 100644
--- a/conf/flight_plans/competitions/EMAV2009_safety.xml
+++ b/conf/flight_plans/competitions/EMAV2009_safety.xml
@@ -2,7 +2,7 @@
 
 <procedure>
   <exceptions>
-    <exception cond="Or(! InsideGreen(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 150)" deroute="Center"/>
+    <exception cond="Or(! InsideGreen(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 150)" deroute="Center"/>
   </exceptions>
 
   <blocks>
diff --git a/conf/flight_plans/competitions/IMAV2014_carto.xml b/conf/flight_plans/competitions/IMAV2014_carto.xml
index 1d94622433..1540933c96 100644
--- a/conf/flight_plans/competitions/IMAV2014_carto.xml
+++ b/conf/flight_plans/competitions/IMAV2014_carto.xml
@@ -42,7 +42,7 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     <include name="Data" procedure="IMAV2014_data.xml"/>
   </includes>
   <exceptions>
-    <exception cond="Or(InsideRed(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 150)" deroute="Center"/>
+    <exception cond="Or(InsideRed(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 150)" deroute="Center"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -61,7 +61,7 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <set value="100." var="WaypointAlt(WP_STDBY)"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Carto1"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Carto1"/>
       <call fun="{ hackhd_command(HACKHD_POWER_ON); FALSE; }"/>
       <while cond="LessThan(NavBlockTime(), 4)"/>
       <call fun="{ hackhd_command(HACKHD_SHOOT); FALSE; }"/>
@@ -75,7 +75,7 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     <block name="Carto1" strip_button="Carto" strip_icon="survey.png">
       <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
       <call fun="nav_compute_baseleg(WP_N3, WP_S3, WP__BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 15 > fabs(GetPosAlt() - WaypointAlt(WP_STDBY)))" wp="_BASELEG" alt="WaypointAlt(WP_STDBY)"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 15 @GT fabs(GetPosAlt() - WaypointAlt(WP_STDBY)))" wp="_BASELEG" alt="WaypointAlt(WP_STDBY)"/>
       <attitude alt="WaypointAlt(WP_STDBY)" roll="0.0" until="stage_time>=2"/>
       <set value="MODULES_START" var="hackhd_hackhd_autoshoot_status"/>
       <go approaching_time="0" from="N3" hmode="route" wp="S3" alt="WaypointAlt(WP_STDBY)"/>
@@ -119,11 +119,11 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     </block>
     <block name="land">
       <call 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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 3 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 3 @GT GetPosAlt()" deroute="flare"/>
       <call fun="{ hackhd_command(HACKHD_POWER_OFF); FALSE; }"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/competitions/IMAV2014_digit.xml b/conf/flight_plans/competitions/IMAV2014_digit.xml
index ee7d61e6fd..6d98201b48 100644
--- a/conf/flight_plans/competitions/IMAV2014_digit.xml
+++ b/conf/flight_plans/competitions/IMAV2014_digit.xml
@@ -25,8 +25,8 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     <include name="Data" procedure="IMAV2014_data.xml"/>
   </includes>
   <exceptions>
-    <exception cond="(autopilot_flight_time > (60*8)) && (IndexOfBlock('Back Home') >= nav_block) && !(nav_block == IndexOfBlock('Holding point'))" deroute="Back Home"/>
-    <exception cond="Or(InsideRed(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 150)" deroute="Center"/>
+    <exception cond="(autopilot_flight_time @GT (60*8)) @AND (IndexOfBlock('Back Home') >= nav_block) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Back Home"/>
+    <exception cond="Or(InsideRed(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 150)" deroute="Center"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -45,10 +45,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png" group="home">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <call fun="NavResurrect()"/>
-      <attitude pitch="0" roll="0" throttle="0" until="stage_time>3 && autopilot_motors_on" vmode="throttle"/>
+      <attitude pitch="0" roll="0" throttle="0" until="stage_time>3 @AND autopilot_motors_on" vmode="throttle"/>
       <stay vmode="climb" climb="0.5" wp="CLIMB"/>
     </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png" group="home">
@@ -82,9 +82,9 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     </block>
     <block name="Roof" strip_button="Roof" group="roof">
       <go from="STDBY" hmode="route" wp="ROOF"/>
-      <stay climb="-0.8" vmode="climb" wp="ROOF" until="0.2 > agl_dist_value_filtered"/>
-      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time > 15"/>
-      <stay climb="0.8" vmode="climb" wp="ROOF" until="agl_dist_value_filtered > 1.0"/>
+      <stay climb="-0.8" vmode="climb" wp="ROOF" until="0.2 @GT agl_dist_value_filtered"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time @GT 15"/>
+      <stay climb="0.8" vmode="climb" wp="ROOF" until="agl_dist_value_filtered @GT 1.0"/>
     </block>
     <block name="Back from Roof" strip_button="BackRoof" group="roof">
       <set var="nav_flight_altitude" value="WPAlt(WP_TD)"/>
@@ -105,7 +105,7 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     </block>
     <block name="flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
-      <exception cond="0.1 > agl_dist_value_filtered" deroute="Holding point"/>
+      <exception cond="0.1 @GT agl_dist_value_filtered" deroute="Holding point"/>
       <exception cond="!nav_is_in_flight()" deroute="landed"/>
       <call fun="NavStartDetectGround()"/>
       <stay climb="-0.8" vmode="climb" wp="TD"/>
diff --git a/conf/flight_plans/competitions/IMAV2014_vision.xml b/conf/flight_plans/competitions/IMAV2014_vision.xml
index 74bfbf1c5a..cb26d07300 100644
--- a/conf/flight_plans/competitions/IMAV2014_vision.xml
+++ b/conf/flight_plans/competitions/IMAV2014_vision.xml
@@ -29,8 +29,8 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     <include name="Data" procedure="IMAV2014_data.xml"/>
   </includes>
   <exceptions>
-    <exception cond="(autopilot_flight_time > (60*8)) && (IndexOfBlock('Back Home') >= nav_block) && !(nav_block == IndexOfBlock('Holding point'))" deroute="Back Home"/>
-    <exception cond="Or(InsideRed(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 150)" deroute="Center"/>
+    <exception cond="(autopilot_flight_time @GT (60*8)) @AND (IndexOfBlock('Back Home') >= nav_block) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Back Home"/>
+    <exception cond="Or(InsideRed(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 150)" deroute="Center"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -49,10 +49,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png" group="home">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <call fun="NavResurrect()"/>
-      <attitude pitch="0" roll="0" throttle="0" until="stage_time>3 && autopilot_motors_on" vmode="throttle"/>
+      <attitude pitch="0" roll="0" throttle="0" until="stage_time>3 @AND autopilot_motors_on" vmode="throttle"/>
       <stay climb="0.5" vmode="climb" wp="CLIMB"/>
     </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png" group="home">
@@ -64,10 +64,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <call fun="nav_set_heading_towards_waypoint(WP_H1)"/>
       <go from="HERE" hmode="route" wp="H1"/>
       <call fun="nav_set_heading_deg(310)"/>
-      <stay wp="H1" climb="-1.0" vmode="climb" until="2.0 > agl_dist_value_filtered"/>
+      <stay wp="H1" climb="-1.0" vmode="climb" until="2.0 @GT agl_dist_value_filtered"/>
       <call fun="viewvideo_save_shot()"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <stay wp="H1" until="stage_time > 2"/-->
+      <stay wp="H1" until="stage_time @GT 2"/-->
       <deroute block="House 2"/>
     </block>
     <block name="House 2" strip_button="H2" group="house1">
@@ -76,10 +76,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <call fun="nav_set_heading_towards_waypoint(WP_H2)"/>
       <go from="HERE" hmode="route" wp="H2"/>
       <call fun="nav_set_heading_deg(90)"/>
-      <stay wp="H2" climb="-1.0" vmode="climb" until="2.0 > agl_dist_value_filtered"/>
+      <stay wp="H2" climb="-1.0" vmode="climb" until="2.0 @GT agl_dist_value_filtered"/>
       <call fun="viewvideo_save_shot()"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <stay wp="H2" until="stage_time > 2"/-->
+      <stay wp="H2" until="stage_time @GT 2"/-->
       <deroute block="House 3"/>
     </block>
     <block name="House 3" strip_button="H3" group="house1">
@@ -88,10 +88,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <call fun="nav_set_heading_towards_waypoint(WP_H3)"/>
       <go from="HERE" hmode="route" wp="H3"/>
       <call fun="nav_set_heading_deg(130)"/>
-      <stay wp="H3" climb="-1.0" vmode="climb" until="2.0 > agl_dist_value_filtered"/>
+      <stay wp="H3" climb="-1.0" vmode="climb" until="2.0 @GT agl_dist_value_filtered"/>
       <call fun="viewvideo_save_shot()"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <stay wp="H3" until="stage_time > 2"/-->
+      <stay wp="H3" until="stage_time @GT 2"/-->
       <deroute block="House 4"/>
     </block>
     <block name="House 4" strip_button="H4" group="house2">
@@ -100,10 +100,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <call fun="nav_set_heading_towards_waypoint(WP_H4)"/>
       <go from="HERE" hmode="route" wp="H4"/>
       <call fun="nav_set_heading_deg(80)"/>
-      <stay wp="H4" climb="-1.0" vmode="climb" until="2.0 > agl_dist_value_filtered"/>
+      <stay wp="H4" climb="-1.0" vmode="climb" until="2.0 @GT agl_dist_value_filtered"/>
       <call fun="viewvideo_save_shot()"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <stay wp="H4" until="stage_time > 20"/-->
+      <stay wp="H4" until="stage_time @GT 20"/-->
       <deroute block="Back Home"/>
     </block>
     <block name="House 5" strip_button="H5" group="house2">
@@ -112,10 +112,10 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <call fun="nav_set_heading_towards_waypoint(WP_H5)"/>
       <go from="HERE" hmode="route" wp="H5"/>
       <call fun="nav_set_heading_deg(140)"/>
-      <stay wp="H5" climb="-1.0" vmode="climb" until="2.0 > agl_dist_value_filtered"/>
+      <stay wp="H5" climb="-1.0" vmode="climb" until="2.0 @GT agl_dist_value_filtered"/>
       <call fun="viewvideo_save_shot()"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <stay wp="H5" until="stage_time > 20"/-->
+      <stay wp="H5" until="stage_time @GT 20"/-->
       <deroute block="House 6"/>
     </block>
     <block name="House 6" strip_button="H6" group="house2">
@@ -124,17 +124,17 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
       <call fun="nav_set_heading_towards_waypoint(WP_H6)"/>
       <go from="HERE" hmode="route" wp="H6"/>
       <call fun="nav_set_heading_deg(180)"/>
-      <stay wp="H6" climb="-1.0" vmode="climb" until="2.0 > agl_dist_value_filtered"/>
+      <stay wp="H6" climb="-1.0" vmode="climb" until="2.0 @GT agl_dist_value_filtered"/>
       <call fun="viewvideo_save_shot()"/>
       <!--set var="nav_flight_altitude" value="stateGetPositionEnu_i()->z"/>
-      <stay wp="H5" until="stage_time > 20"/-->
+      <stay wp="H5" until="stage_time @GT 20"/-->
       <deroute block="Back Home"/>
     </block>
     <block group="roof" name="Roof" strip_button="Roof">
       <go from="STDBY" hmode="route" wp="ROOF"/>
-      <stay climb="-0.8" until="0.2 > agl_dist_value_filtered" vmode="climb" wp="ROOF"/>
-      <attitude pitch="0" roll="0" throttle="0" until="stage_time > 15" vmode="throttle"/>
-      <stay climb="0.8" until="agl_dist_value_filtered > 1.0" vmode="climb" wp="ROOF"/>
+      <stay climb="-0.8" until="0.2 @GT agl_dist_value_filtered" vmode="climb" wp="ROOF"/>
+      <attitude pitch="0" roll="0" throttle="0" until="stage_time @GT 15" vmode="throttle"/>
+      <stay climb="0.8" until="agl_dist_value_filtered @GT 1.0" vmode="climb" wp="ROOF"/>
     </block>
     <block name="Back Home" strip_button="Back Home" group="roof">
       <set var="nav_flight_altitude" value="WPAlt(WP_TD)"/>
@@ -148,7 +148,7 @@ static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y)
     </block>
     <block name="flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
-      <exception cond="0.1 > agl_dist_value_filtered" deroute="Holding point"/>
+      <exception cond="0.1 @GT agl_dist_value_filtered" deroute="Holding point"/>
       <exception cond="!nav_is_in_flight()" deroute="landed"/>
       <call fun="NavStartDetectGround()"/>
       <stay climb="-0.8" vmode="climb" wp="TD"/>
diff --git a/conf/flight_plans/competitions/IMAV2018_carto.xml b/conf/flight_plans/competitions/IMAV2018_carto.xml
index 54be4bdfe4..56f97f4a2b 100644
--- a/conf/flight_plans/competitions/IMAV2018_carto.xml
+++ b/conf/flight_plans/competitions/IMAV2018_carto.xml
@@ -97,21 +97,21 @@ static inline void set_expo(float e) {
   </modules>
   <exceptions>
     <!-- RC-Loss -->
-    <exception cond="(delay_test_rc(RCLost(),20) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(delay_test_rc(RCLost(),20) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
 
     <!-- Datalink loss -->
-    <exception cond="(datalink_time > 10 &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(datalink_time @GT 10 @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
 
     <!-- Geofence -->
-    <exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
 
   </exceptions>
@@ -128,7 +128,7 @@ static inline void set_expo(float e) {
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <go from="HOME" pitch="30" throttle="0.8" vmode="throttle" wp="CLIMB"/>
@@ -151,11 +151,11 @@ static inline void set_expo(float e) {
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 3 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 3 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/competitions/IMAV2019_carto.xml b/conf/flight_plans/competitions/IMAV2019_carto.xml
index a71ce1f283..71021a0e1b 100644
--- a/conf/flight_plans/competitions/IMAV2019_carto.xml
+++ b/conf/flight_plans/competitions/IMAV2019_carto.xml
@@ -95,17 +95,17 @@ static inline void set_expo(float e) {
     <module name="nav" type="survey_zamboni"/>
   </modules>
   <!--exceptions>
-    <exception cond="(delay_test_rc(RCLost(),20) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(delay_test_rc(RCLost(),20) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
-    <exception cond="(datalink_time > 10 &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(datalink_time @GT 10 @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
-    <exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
   </exceptions-->
   <blocks>
@@ -121,7 +121,7 @@ static inline void set_expo(float e) {
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+20" deroute="Align Zamboni"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+20" deroute="Align Zamboni"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <go from="HOME" pitch="30" throttle="0.8" vmode="throttle" wp="CLIMB"/>
@@ -149,11 +149,11 @@ static inline void set_expo(float e) {
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 3 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 3 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/competitions/IMAV2019_drop.xml b/conf/flight_plans/competitions/IMAV2019_drop.xml
index 1b8cf20759..b82627432f 100644
--- a/conf/flight_plans/competitions/IMAV2019_drop.xml
+++ b/conf/flight_plans/competitions/IMAV2019_drop.xml
@@ -84,17 +84,17 @@ static inline bool delay_test_gf(bool test, int delay) {
     <module name="nav" type="survey_rectangle_rotorcraft"/>
   </modules>
   <!--exceptions>
-    <exception cond="(delay_test_rc(RCLost(),20) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(delay_test_rc(RCLost(),20) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
-    <exception cond="(datalink_time > 10 &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(datalink_time @GT 10 @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
-    <exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
+    <exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('Land Right AF-TD')) @AND
       (autopilot.launch == true) )" deroute="EmergencyLanding"/>
   </exceptions-->
   <blocks>
@@ -114,7 +114,7 @@ static inline bool delay_test_gf(bool test, int delay) {
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png" group="home">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
     </block>
@@ -127,8 +127,8 @@ static inline bool delay_test_gf(bool test, int delay) {
       <call_once fun="NavResurrect()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time>2"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="stateGetPositionEnu_f()->z > 2.0"/>
-      <stay wp="CLIMB" until="GetPosAlt() > GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
+      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="GetPosHeight() @GT 2.0"/>
+      <stay wp="CLIMB" until="GetPosAlt() @GT GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
     </block>
     <block name="Survey-WE SET" strip_button="Survey-WE" strip_icon="survey_we.png" group="survey">
       <call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S3, sweep, WE)"/>
@@ -143,11 +143,11 @@ static inline bool delay_test_gf(bool test, int delay) {
       <set var="nav_flight_altitude" value="POS_BFP_OF_REAL(10.)"/>
       <call_once fun="NavSetWaypointHere(WP__HERE)"/>
       <go wp="RED" from="_HERE" hmode="route"/>
-      <stay wp="RED" until="stage_time > 3"/>
+      <stay wp="RED" until="stage_time @GT 3"/>
       <go wp="BLUE" from="RED" hmode="route"/>
-      <stay wp="BLUE" until="stage_time > 3"/>
+      <stay wp="BLUE" until="stage_time @GT 3"/>
       <go wp="YELLOW" from="BLUE"/>
-      <stay wp="YELLOW" until="stage_time > 3"/>
+      <stay wp="YELLOW" until="stage_time @GT 3"/>
       <set var="nav_flight_altitude" value="POS_BFP_OF_REAL(WaypointAlt(WP_STDBY))"/>
       <go wp="STDBY" from="YELLOW"/>
       <deroute block="Standby"/>
@@ -157,8 +157,8 @@ static inline bool delay_test_gf(bool test, int delay) {
       <call_once fun="NavResurrect()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time>2"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="stateGetPositionEnu_f()->z > 2.0"/>
-      <stay wp="CLIMB" until="GetPosAlt() > GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
+      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="GetPosHeight() @GT 2.0"/>
+      <stay wp="CLIMB" until="GetPosAlt() @GT GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
     </block>
     <block name="Drop RED" strip_button="RED" group="drop">
       <set var="nav_flight_altitude" value="POS_BFP_OF_REAL(WaypointAlt(WP_RED))"/>
@@ -189,8 +189,8 @@ static inline bool delay_test_gf(bool test, int delay) {
       <call_once fun="NavResurrect()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time>2"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="stateGetPositionEnu_f()->z > 2.0"/>
-      <stay wp="CLIMB" until="GetPosAlt() > GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
+      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="GetPosHeight() @GT 2.0"/>
+      <stay wp="CLIMB" until="GetPosAlt() @GT GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
     </block>
     <block name="Drop BLUE" strip_button="BLUE" group="drop">
       <set var="nav_flight_altitude" value="POS_BFP_OF_REAL(WaypointAlt(WP_BLUE))"/>
@@ -221,8 +221,8 @@ static inline bool delay_test_gf(bool test, int delay) {
       <call_once fun="NavResurrect()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time>2"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="stateGetPositionEnu_f()->z > 2.0"/>
-      <stay wp="CLIMB" until="GetPosAlt() > GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
+      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="GetPosHeight() @GT 2.0"/>
+      <stay wp="CLIMB" until="GetPosAlt() @GT GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
     </block>
     <block name="Drop YELLOW" strip_button="YELLOW" group="drop">
       <set var="nav_flight_altitude" value="POS_BFP_OF_REAL(WaypointAlt(WP_YELLOW))"/>
@@ -253,8 +253,8 @@ static inline bool delay_test_gf(bool test, int delay) {
       <call_once fun="NavResurrect()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time>2"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="stateGetPositionEnu_f()->z > 2.0"/>
-      <stay wp="CLIMB" until="GetPosAlt() > GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
+      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB" until="GetPosHeight() @GT 2.0"/>
+      <stay wp="CLIMB" until="GetPosAlt() @GT GetAltRef() + WaypointAlt(WP_CLIMB) - 5.0"/>
     </block>
     <block name="Drop HOUSE" strip_button="HOUSE" group="drop">
       <set var="nav_flight_altitude" value="POS_BFP_OF_REAL(WaypointAlt(WP_HOUSE))"/>
diff --git a/conf/flight_plans/competitions/mav06.xml b/conf/flight_plans/competitions/mav06.xml
index 69bf4e8212..c922eb5c2c 100644
--- a/conf/flight_plans/competitions/mav06.xml
+++ b/conf/flight_plans/competitions/mav06.xml
@@ -26,13 +26,13 @@
 
    <!-- <block name="land">
       <set value="compute_baseleg()" var="unit"/>
-      <circle radius="BOMB_RADIUS" until="circle_count > 0.5" wp="BASELEG"/>
+      <circle radius="BOMB_RADIUS" until="circle_count @GT 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(bomb_start_qdr)-10) && baseleg_alt_tolerance > fabs(GetPosAlt() - baseleg_alt)" wp="BASELEG"/>
+      <circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(bomb_start_qdr)-10) @AND baseleg_alt_tolerance @GT fabs(GetPosAlt() - baseleg_alt)" wp="BASELEG"/>
     </block>
 
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
       <go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
     </block>
@@ -43,12 +43,12 @@
     </block>
 
     <block name="circle 1">
-      <exception cond="block_time > 300" deroute="wait"/>
+      <exception cond="block_time @GT 300" deroute="wait"/>
       <circle wp="C1" radius="80"/>
     </block>
 
     <block name="climb">
-      <exception cond=" GetPosAlt() > GetAltRef() +30" deroute="wait"/>
+      <exception cond=" GetPosAlt() @GT GetAltRef() +30" deroute="wait"/>
       <attitude pitch="15" roll="0" throttle="0.8" until="10> stage_time" vmode="throttle"/>
     </block>-->
     <block name="wait" strip_button="Wait">
@@ -61,7 +61,7 @@
 
 
     <block name="target1" strip_button="T1">
-      <exception cond="block_time > 300" deroute="wait"/>
+      <exception cond="block_time @GT 300" deroute="wait"/>
       <eight center="TARGET1" radius="80" turn_around="C1"/>
     </block>
 
@@ -87,7 +87,7 @@
     <block name="roll" strip_button="Roll">
       <set value="TRUE" var="h_ctl_disabled"/>
       <set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
-      <while cond="3 > stage_time && (stateGetNedToBodyEulers_f()->phi > 0 ||  -M_PI_2 > stateGetNedToBodyEulers_f()->phi)"/>
+      <while cond="3 @GT stage_time @AND (stateGetNedToBodyEulers_f()->phi @GT 0 ||  -M_PI_2 @GT stateGetNedToBodyEulers_f()->phi)"/>
       <set value="FALSE" var="h_ctl_disabled"/>
       <return/>
     </block>-->
diff --git a/conf/flight_plans/competitions/mav07.xml b/conf/flight_plans/competitions/mav07.xml
index 63b1ac7c5f..595f0289a3 100644
--- a/conf/flight_plans/competitions/mav07.xml
+++ b/conf/flight_plans/competitions/mav07.xml
@@ -57,7 +57,7 @@
   </sectors>
   <exceptions>
     <exception cond="!InsideFonsorbes(GetPosX(), GetPosY())" deroute="kill"/>
-    <exception cond="datalink_time > 35" deroute="standby"/>
+    <exception cond="datalink_time @GT 35" deroute="standby"/>
   </exceptions>
   <blocks>
     <block name="init">
@@ -72,7 +72,7 @@
       </while>
     </block>
     <block name="takeoff">
-      <exception cond="GetPosAlt() > GetAltRef() + 25" deroute="standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef() + 25" deroute="standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <go wp="TAKEOFF"/>
     </block>
@@ -128,11 +128,11 @@
     </block>
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <call fun="compute_TOD(WP_AF, WP_TD, WP_TOD, GLIDE_AIRSPEED, GLIDE_VSPEED)"/>
       <go approaching_time="0" from="AF" hmode="route" wp="TOD"/>
       <go from="TOD" hmode="route" pitch="stage_time*(GLIDE_PITCH/3)" throttle="0" vmode="throttle" wp="TD"/>
diff --git a/conf/flight_plans/competitions/mav08.xml b/conf/flight_plans/competitions/mav08.xml
index db5db2c468..1e53897a67 100644
--- a/conf/flight_plans/competitions/mav08.xml
+++ b/conf/flight_plans/competitions/mav08.xml
@@ -32,8 +32,8 @@
     <kml file="MAV08_legs.kml"/>
   </sectors>
   <exceptions>
-      <exception cond="datalink_time > 30" deroute="Standby"/>
-      <exception cond="9.7 > PowerVoltage()" deroute="Standby"/>
+      <exception cond="datalink_time @GT 30" deroute="Standby"/>
+      <exception cond="9.7 @GT PowerVoltage()" deroute="Standby"/>
   </exceptions>
   <blocks>
     <block name="Holding point">
@@ -41,7 +41,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot_flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -96,11 +96,11 @@
     </block>
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/demo_gvf.xml b/conf/flight_plans/demo_gvf.xml
index be8a3a1233..46ea459886 100644
--- a/conf/flight_plans/demo_gvf.xml
+++ b/conf/flight_plans/demo_gvf.xml
@@ -51,7 +51,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -102,11 +102,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/dynamic_sectors.xml b/conf/flight_plans/dynamic_sectors.xml
index e7e150d49f..2985169c08 100644
--- a/conf/flight_plans/dynamic_sectors.xml
+++ b/conf/flight_plans/dynamic_sectors.xml
@@ -41,7 +41,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <go wp="CLIMB"/>
     </block>
@@ -67,12 +67,12 @@
     </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="NavCircleCount() @GT 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/formation/form_follow.xml b/conf/flight_plans/formation/form_follow.xml
index 39d95e17ed..9388f85039 100644
--- a/conf/flight_plans/formation/form_follow.xml
+++ b/conf/flight_plans/formation/form_follow.xml
@@ -40,7 +40,7 @@
     <block name="land"> <!-- basic landing function out of formation -->
       <call_once fun="stop_formation()"/>
       <exception cond="(GROUND_ALT+10> GetPosAlt())" deroute="stop"/>
-      <circle radius="50" until="225 > GetPosAlt()" wp="IAF"/>
+      <circle radius="50" until="225 @GT GetPosAlt()" wp="IAF"/>
       <go alt="215" wp="AF"/>
       <go from="AF" hmode="route" vmode="glide" wp="RWAY"/>
     </block>
diff --git a/conf/flight_plans/formation/form_leader.xml b/conf/flight_plans/formation/form_leader.xml
index 92eb108d3f..ad7d993b06 100644
--- a/conf/flight_plans/formation/form_leader.xml
+++ b/conf/flight_plans/formation/form_leader.xml
@@ -50,7 +50,7 @@
     </block>
     <block name="land"> <!-- basic landing function out of formation -->
       <exception cond="(GROUND_ALT+10> GetPosAlt())" deroute="stop"/>
-      <circle radius="50" until="WaypointAlt(WP_IAF) > GetPosAlt()" wp="IAF"/>
+      <circle radius="50" until="WaypointAlt(WP_IAF) @GT GetPosAlt()" wp="IAF"/>
       <go alt="WaypointAlt(WP_AF)" wp="AF"/>
       <go from="AF" hmode="route" vmode="glide" wp="RWAY"/>
     </block>
diff --git a/conf/flight_plans/joystick.xml b/conf/flight_plans/joystick.xml
index 5e7dcdc3aa..fd62c40bd0 100644
--- a/conf/flight_plans/joystick.xml
+++ b/conf/flight_plans/joystick.xml
@@ -51,7 +51,7 @@ static inline void joystick_handler(uint8_t sender_id __attribute__((unused)), i
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT 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"/>
@@ -71,7 +71,7 @@ static inline void joystick_handler(uint8_t sender_id __attribute__((unused)), i
       <circle radius="nav_radius" wp="MOB"/>
     </block>
     <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <call_once fun="nav_line_setup()"/>
       <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
     </block>
@@ -96,11 +96,11 @@ static inline void joystick_handler(uint8_t sender_id __attribute__((unused)), i
     </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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/lagonisi_beach_survey.xml b/conf/flight_plans/lagonisi_beach_survey.xml
index 5f9d10f39a..7c8a494af8 100644
--- a/conf/flight_plans/lagonisi_beach_survey.xml
+++ b/conf/flight_plans/lagonisi_beach_survey.xml
@@ -26,8 +26,8 @@
   <sectors/>
   <variables/>
   <exceptions>
-    <exception cond="(imcu_get_radio(RADIO_YAW) > MAX_PPRZ/2)&&(autopilot.mode == AP_MODE_AUTO2) && (GetPosAlt() > GetAltRef()+20)" deroute="Target"/>
-    <exception cond="(MIN_PPRZ/2 > imcu_get_radio(RADIO_YAW))&&(autopilot.mode == AP_MODE_AUTO2) && (GetPosAlt() > GetAltRef()+20)" deroute="Return Home"/>
+    <exception cond="(imcu_get_radio(RADIO_YAW) @GT MAX_PPRZ/2)@AND(autopilot.mode == AP_MODE_AUTO2) @AND (GetPosAlt() @GT GetAltRef()+20)" deroute="Target"/>
+    <exception cond="(MIN_PPRZ/2 @GT imcu_get_radio(RADIO_YAW))@AND(autopilot.mode == AP_MODE_AUTO2) @AND (GetPosAlt() @GT GetAltRef()+20)" deroute="Return Home"/>
   </exceptions>
   <blocks>
     <block name="Wait Gps">
@@ -42,25 +42,25 @@
       <call_once fun="NavSetWaypointHere(WP_HOME)"/>
     </block>
     <block name="Holding Point">
-      <exception cond="((imcu_get_radio(RADIO_THROTTLE) > (MAX_PPRZ-(MAX_PPRZ/10)))&&(autopilot.mode == AP_MODE_AUTO2))" deroute="Takeoff"/>
+      <exception cond="((imcu_get_radio(RADIO_THROTTLE) @GT (MAX_PPRZ-(MAX_PPRZ/10)))@AND(autopilot.mode == AP_MODE_AUTO2))" deroute="Takeoff"/>
       <set value="true" var="autopilot.kill_throttle"/>
       <call_once fun="imcu_set_command(COMMAND_FLAPS, MAX_PPRZ/2)"/>
       <call_once fun="imcu_set_command(COMMAND_FLAPS, MAX_PPRZ/2)" />
-      <attitude roll="0" throttle="0" until="((sqrt(dist2_to_home) > 10)&& (700 > gps.pdop))" vmode="throttle"/>
+      <attitude roll="0" throttle="0" until="((sqrt(dist2_to_home) @GT 10)@AND (700 @GT gps.pdop))" vmode="throttle"/>
       <deroute block="Takeoff"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp AF_NORTH)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="true" var="autopilot.launch"/>
       <set value="false" var="h_ctl_disabled"/>
       <set value="false" var="autopilot.kill_throttle"/>
       <call_once fun="imcu_set_command(COMMAND_FLAPS, MAX_PPRZ/2)" />
-      <attitude pitch="20" roll="0.0" throttle="1.0" until="GetPosAlt() > GetAltRef()+20" vmode="throttle"/>
+      <attitude pitch="20" roll="0.0" throttle="1.0" until="GetPosAlt() @GT GetAltRef()+20" vmode="throttle"/>
       <deroute block="Standby"/>
     </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png">
-      <exception cond="electrical.bat_low&&(autopilot.mode == AP_MODE_AUTO2)&&(GetPosAlt() > GetAltRef()+20)" deroute="Land"/>
-      <exception cond="radio_control.status == RC_REALLY_LOST&&(autopilot.mode == AP_MODE_AUTO2)&&(GetPosAlt() > GetAltRef()+20)" deroute="Land"/>
+      <exception cond="electrical.bat_low@AND(autopilot.mode == AP_MODE_AUTO2)@AND(GetPosAlt() @GT GetAltRef()+20)" deroute="Land"/>
+      <exception cond="radio_control.status == RC_REALLY_LOST@AND(autopilot.mode == AP_MODE_AUTO2)@AND(GetPosAlt() @GT GetAltRef()+20)" deroute="Land"/>
       <set value="false" var="h_ctl_disabled"/>
       <set value="false" var="autopilot.kill_throttle"/>
       <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
@@ -68,7 +68,7 @@
       <circle height="30" radius="nav_radius" wp="STANDBY"/>
     </block>
     <block name="Target" strip_button="Go to TARGET" strip_icon="kill.png">
-      <exception cond="electrical.bat_low&&(autopilot.mode == AP_MODE_AUTO2)&&(GetPosAlt() > GetAltRef()+20)" deroute="Return Home NOW"/>
+      <exception cond="electrical.bat_low@AND(autopilot.mode == AP_MODE_AUTO2)@AND(GetPosAlt() @GT GetAltRef()+20)" deroute="Return Home NOW"/>
       <call_once fun="imcu_set_command(COMMAND_FLAPS, 0)" />
       <go from="HOME" height="200" hmode="route" wp="WP1"/>
       <go from="WP1" height="200" hmode="route" wp="WP2"/>
@@ -77,7 +77,7 @@
       <go from="WP4" height="200" hmode="route" wp="WP5"/>
       <go from="WP5" height="200" hmode="route" wp="WP6"/>
       <go alt="200+ground_alt" from="WP6" hmode="route" wp="TARGET"/>
-      <circle height="200" radius="(nav_radius*2)" until="NavCircleCount() > 2" wp="TARGET"/>
+      <circle height="200" radius="(nav_radius*2)" until="NavCircleCount() @GT 2" wp="TARGET"/>
       <deroute block="Return Home"/>
     </block>
     <block name="Return Home" strip_button="Return Home" strip_icon="home.png">
@@ -103,19 +103,19 @@
       <deroute block="Land1"/>
     </block>
     <block name="Land1">
-      <exception cond="airborne_wind_dir > 270. || 90. > airborne_wind_dir" deroute="Land From South"/>
-      <exception cond="airborne_wind_dir > 90. && 270. > airborne_wind_dir" deroute="Land From North"/>
+      <exception cond="airborne_wind_dir @GT 270. || 90. @GT airborne_wind_dir" deroute="Land From South"/>
+      <exception cond="airborne_wind_dir @GT 90. @AND 270. @GT airborne_wind_dir" deroute="Land From North"/>
     </block>
     <block name="Land From North" strip_button="Land FROM NORTH (wp AF_NORTH-TD)" strip_icon="land-right.png">
       <call_once fun="imcu_set_command(COMMAND_FLAPS, 0)" />
       <call_once fun="nav_compute_baseleg(WP_AF_NORTH, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="Final North">
       <call_once fun="imcu_set_command(COMMAND_FLAPS, MAX_PPRZ/2)" />
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="Flare North"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="Flare North"/>
        <go from="AF_NORTH" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="Flare North">
@@ -125,13 +125,13 @@
     <block name="Land From South" strip_button="Land FROM SOUTH (wp AF_SOUTH-TD)" strip_icon="land-left.png">
       <call_once fun="imcu_set_command(COMMAND_FLAPS, 0)" />
       <call_once fun="nav_compute_baseleg(WP_AF_SOUTH, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10>fabs(GetPosAlt()-WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10>fabs(GetPosAlt()-WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final South">
       <call_once fun="imcu_set_command(COMMAND_FLAPS, MAX_PPRZ/2)" />
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="Flare South"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="Flare South"/>
       <go from="AF_SOUTH" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="Flare South">
@@ -142,11 +142,11 @@
       <call fun="LockParachute()"/>
       <call fun="calculate_wind_no_airspeed(WP_TD, (nav_radius*2), 50)"/>
       <call fun="ParachuteComputeApproach(WP_BASELEG, WP_RELEASE, WP_TD)"/>
-      <circle alt="(ground_alt+30)" radius="nav_radius" until="NavQdrCloseTo(DegOfRad(parachute_start_qdr)-(nav_radius/fabs(nav_radius))*10) && 10>fabs(GetPosAlt()-(ground_alt+30))" wp="BASELEG"/>
+      <circle alt="(ground_alt+30)" radius="nav_radius" until="NavQdrCloseTo(DegOfRad(parachute_start_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10>fabs(GetPosAlt()-(ground_alt+30))" wp="BASELEG"/>
       <call fun="NavSetWaypointHere(WP_MOB)"/>
       <call_once fun="imcu_set_command(COMMAND_FLAPS, MAX_PPRZ/2)" />
       <go from="MOB" hmode="route" wp="RELEASE"/>
-      <attitude pitch="10" roll="0.0" throttle="0" until="MINIMUM_AIRSPEED > stateGetHorizontalSpeedNorm_f()" vmode="throttle"/>
+      <attitude pitch="10" roll="0.0" throttle="0" until="MINIMUM_AIRSPEED @GT stateGetHorizontalSpeedNorm_f()" vmode="throttle"/>
       <call fun="DeployParachute()"/>
       <set value="true" var="autopilot.kill_throttle"/>
       <circle height="70." radius="nav_radius" wp="HOME"/>
diff --git a/conf/flight_plans/landing.xml b/conf/flight_plans/landing.xml
index 63d82ad1f1..31e03a4625 100644
--- a/conf/flight_plans/landing.xml
+++ b/conf/flight_plans/landing.xml
@@ -17,11 +17,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD" alt="GetAltRef()"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/mission_fw.xml b/conf/flight_plans/mission_fw.xml
index a186011eae..7ce3928336 100644
--- a/conf/flight_plans/mission_fw.xml
+++ b/conf/flight_plans/mission_fw.xml
@@ -29,7 +29,7 @@
       <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"/>
+      <exception cond="GetPosAlt() @GT 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"/>
@@ -51,11 +51,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml
index c7bf897187..d8f521d0a7 100644
--- a/conf/flight_plans/nav_modules.xml
+++ b/conf/flight_plans/nav_modules.xml
@@ -62,7 +62,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="0" var="autopilot.flight_time"/>
       <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -147,11 +147,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/quadshot_delft.xml b/conf/flight_plans/quadshot_delft.xml
index 402219d42b..cc947f235e 100644
--- a/conf/flight_plans/quadshot_delft.xml
+++ b/conf/flight_plans/quadshot_delft.xml
@@ -35,35 +35,35 @@
       <call_once fun="NavResurrect()"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Climb"/>
+      <exception cond="GetPosHeight() @GT 5.0" deroute="Climb"/>
       <call_once fun="NavSetWaypointHere(WP_STDBY)"/>
       <set value="FALSE" var="force_forward_flight"/>
       <attitude pitch="0" roll="0" throttle="0.5" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Climb">
-      <exception cond="stateGetPositionEnu_f()->z > 20.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 20.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_STDBY)"/>
       <set value="FALSE" var="force_forward_flight"/>
       <stay climb="2" vmode="climb" wp="STDBY"/>
     </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png">
-      <exception cond="radio_control.status > RC_OK" deroute="land"/>
+      <exception cond="radio_control.status @GT RC_OK" deroute="land"/>
       <set value="FALSE" var="force_forward_flight"/>
       <stay wp="STDBY"/>
     </block>
     <block name="stay_p1">
-      <exception cond="radio_control.status > RC_OK" deroute="land"/>
+      <exception cond="radio_control.status @GT RC_OK" deroute="land"/>
       <set value="FALSE" var="force_forward_flight"/>
       <stay wp="p1"/>
     </block>
     <block name="go_p2_p1">
-      <exception cond="radio_control.status > RC_OK" deroute="land"/>
+      <exception cond="radio_control.status @GT RC_OK" deroute="land"/>
       <set value="FALSE" var="force_forward_flight"/>
       <go wp="p2"/>
       <deroute block="stay_p1"/>
     </block>
     <block name="pylon_racing">
-      <exception cond="radio_control.status > RC_OK" deroute="land"/>
+      <exception cond="radio_control.status @GT RC_OK" deroute="land"/>
       <set value="FALSE" var="force_forward_flight"/>
       <go wp="p2"/>
       <go wp="p3"/>
@@ -72,7 +72,7 @@
       <deroute block="stay_p1"/>
     </block>
     <block name="pylon_racing_forward">
-      <exception cond="radio_control.status > RC_OK" deroute="land"/>
+      <exception cond="radio_control.status @GT RC_OK" deroute="land"/>
       <set value="TRUE" var="force_forward_flight"/>
       <go wp="p2"/>
       <go wp="p3"/>
@@ -90,15 +90,15 @@
       <go wp="STDBY"/>
     </block>
     <block name="descent">
-      <exception cond="8.0 > stateGetPositionEnu_f()->z" deroute="descent_slow"/>
+      <exception cond="8.0 @GT GetPosHeight()" deroute="descent_slow"/>
       <stay climb="-1" vmode="climb" wp="STDBY"/>
     </block>
     <block name="descent_slow">
-      <exception cond="2.0 > stateGetPositionEnu_f()->z" deroute="flare"/>
+      <exception cond="2.0 @GT GetPosHeight()" deroute="flare"/>
       <stay climb="-1" vmode="climb" wp="STDBY"/>
     </block>
     <block name="flare">
-      <exception cond="0.3 > sonar_adc.distance" deroute="landed"/>
+      <exception cond="0.3 @GT sonar_adc.distance" deroute="landed"/>
       <attitude pitch="0" roll="0" throttle="0.13" vmode="throttle"/>
     </block>
     <block name="landed">
diff --git a/conf/flight_plans/rotorcraft_basic.xml b/conf/flight_plans/rotorcraft_basic.xml
index 31c0d43489..b5316f987b 100644
--- a/conf/flight_plans/rotorcraft_basic.xml
+++ b/conf/flight_plans/rotorcraft_basic.xml
@@ -67,7 +67,7 @@
     <block name="test yaw">
       <go wp="p1"/>
       <for var="i" from="1" to="16">
-        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
+        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time @GT 3"/>
       </for>
       <deroute block="Standby"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_basic_geofence.xml b/conf/flight_plans/rotorcraft_basic_geofence.xml
index 230152a457..4235c2b986 100644
--- a/conf/flight_plans/rotorcraft_basic_geofence.xml
+++ b/conf/flight_plans/rotorcraft_basic_geofence.xml
@@ -58,7 +58,7 @@
       <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"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="0.5" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_basic_safety.xml b/conf/flight_plans/rotorcraft_basic_safety.xml
index 1685109831..8102a080db 100644
--- a/conf/flight_plans/rotorcraft_basic_safety.xml
+++ b/conf/flight_plans/rotorcraft_basic_safety.xml
@@ -39,7 +39,7 @@
   </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"/>
+    <exception cond="Or(!InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 50) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('landed')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -60,7 +60,7 @@
       <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"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="0.5" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_basic_superbitrf.xml b/conf/flight_plans/rotorcraft_basic_superbitrf.xml
index 5f748f86c1..bc25136a04 100644
--- a/conf/flight_plans/rotorcraft_basic_superbitrf.xml
+++ b/conf/flight_plans/rotorcraft_basic_superbitrf.xml
@@ -39,16 +39,16 @@
   </sectors>
   <exceptions>
     <!-- Check inside small flight area, then goto Center(Standby) -->
-    <exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 50) && !(nav_block == BLOCK_Init) && !(nav_block == BLOCK_Geo_init) && !(nav_block == BLOCK_Landed)" deroute="Standby"/>
+    <exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 50) @AND !(nav_block == BLOCK_Init) @AND !(nav_block == BLOCK_Geo_init) @AND !(nav_block == BLOCK_Landed)" deroute="Standby"/>
     <!-- Check if battery is empty, then Land Here -->
-    <exception cond="electrical.bat_low && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
+    <exception cond="electrical.bat_low @AND !(nav_block == BLOCK_Land) @AND !(nav_block == BLOCK_Flare) @AND !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
     <!-- Check if time is up(10 seconds range), then Land Here -->
-    <exception cond="10 > time_until_end && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
+    <exception cond="10 @GT time_until_end @AND !(nav_block == BLOCK_Land) @AND !(nav_block == BLOCK_Flare) @AND !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
   </exceptions>
   <blocks>
     <block name="Init">
       <call_once fun="NavKillThrottle()"/>
-      <while cond="!GpsFixValid() || gps.pacc > 1500 || !(ahrs.status == AHRS_RUNNING)"/>
+      <while cond="!GpsFixValid() || gps.pacc @GT 1500 || !(ahrs.status == AHRS_RUNNING)"/>
     </block>
     <block name="Geo init">
       <while cond="LessThan(NavBlockTime(), 10)"/>
@@ -65,7 +65,7 @@
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 5.0" deroute="Standby"/>
       <attitude pitch="0" roll="0" throttle="0.5" vmode="throttle"/>
     </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png">
diff --git a/conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml b/conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml
index d60a351a8c..3effb9c820 100644
--- a/conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml
+++ b/conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml
@@ -46,17 +46,17 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
   </sectors>
   <exceptions>
     <!-- Check inside small flight area, then goto Center(Standby) -->
-    <exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 50) && !(nav_block == IndexOfBlock('Init')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('landed'))" deroute="Standby"/>
+    <exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 50) @AND !(nav_block == IndexOfBlock('Init')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('landed'))" deroute="Standby"/>
     <!-- Check if battery is empty, then Land Here -->
-    <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('land')) && !(nav_block == IndexOfBlock('flare')) && !(nav_block == IndexOfBlock('landed'))" deroute="land"/>
-    <exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('land')) && !(nav_block == IndexOfBlock('flare')) && !(nav_block == IndexOfBlock('landed'))" deroute="land here"/>
+    <exception cond="electrical.bat_low @AND !(nav_block == IndexOfBlock('land')) @AND !(nav_block == IndexOfBlock('flare')) @AND !(nav_block == IndexOfBlock('landed'))" deroute="land"/>
+    <exception cond="electrical.bat_critical @AND !(nav_block == IndexOfBlock('land')) @AND !(nav_block == IndexOfBlock('flare')) @AND !(nav_block == IndexOfBlock('landed'))" deroute="land here"/>
     <!-- Check if time is up(10 seconds range), then Land Here
-    <exception cond="10 > time_until_land && !(nav_block == IndexOfBlock('land')) && !(nav_block == IndexOfBlock('flare')) && !(nav_block == IndexOfBlock('landed'))" deroute="land here"/>-->
+    <exception cond="10 @GT time_until_land @AND !(nav_block == IndexOfBlock('land')) @AND !(nav_block == IndexOfBlock('flare')) @AND !(nav_block == IndexOfBlock('landed'))" deroute="land here"/>-->
   </exceptions>
   <blocks>
     <block name="Init">
       <call_once fun="NavKillThrottle()"/>
-      <while cond="!GpsFixValid() || gps.pacc > 400 || !(stateIsAttitudeValid())"/>
+      <while cond="!GpsFixValid() || gps.pacc @GT 400 || !(stateIsAttitudeValid())"/>
     </block>
     <block name="Geo init">
       <while cond="LessThan(NavBlockTime(), 8)"/>
@@ -69,23 +69,23 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
     </block>
     <block name="Start Engine">
       <call_once fun="NavResurrect()"/>
-      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time > 1"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time @GT 1"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
       <call_once fun="NavSetAltitudeReferenceHere()"/>
       <call_once fun="NavSetWaypointHere(WP_STDBY)"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 5.0" deroute="Standby"/>
       <set value="0" var="autopilot.flight_time"/>
       <!-- If take-off to first point takes to long to reach somehow because of some reason, abort flight -->
-     <exception cond="block_time > 30" deroute="land"/>
+     <exception cond="block_time @GT 30" deroute="land"/>
      <!-- To make sure that takoff is straight up -->
-    <attitude pitch="0" roll="0" throttle="0.90" until="stage_time > 1" vmode="throttle"/>
-<!--Alternative <exception cond="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" deroute="A_to_B_and_back"/>-->
-     <stay vmode="climb" climb="nav_climb_vspeed" until="WaypointAlt(WP_STDBY) > stateGetPositionEnu_f()->z" wp="CLIMB"/>
+    <attitude pitch="0" roll="0" throttle="0.90" until="stage_time @GT 1" vmode="throttle"/>
+<!--Alternative <exception cond="WaypointAlt(WP_A) @GT GetPosHeight()" deroute="A_to_B_and_back"/>-->
+     <stay vmode="climb" climb="nav_climb_vspeed" until="WaypointAlt(WP_STDBY) @GT GetPosHeight()" wp="CLIMB"/>
      </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png" pre_call="if(!InsideKill(GetPosX(), GetPosY())) NavKillThrottle()">
-      <exception cond="block_time > 60" deroute="land"/>
+      <exception cond="block_time @GT 60" deroute="land"/>
       <go wp="STDBY"/>
       <stay wp="STDBY"/>
     </block>
@@ -127,7 +127,7 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
       <stay climb="-0.8" vmode="climb" wp="TD"/>
     </block>
     <block name="landed">
-      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time > 0.5"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="stage_time @GT 0.5"/>
     </block>
     <block name="Holding point">
       <call_once fun="NavKillThrottle()"/>
diff --git a/conf/flight_plans/rotorcraft_cam.xml b/conf/flight_plans/rotorcraft_cam.xml
index 6c63833a26..98c9c6180e 100644
--- a/conf/flight_plans/rotorcraft_cam.xml
+++ b/conf/flight_plans/rotorcraft_cam.xml
@@ -33,7 +33,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -67,7 +67,7 @@
     <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
       <set value="25" var="nav_radius"/>
       <call_once fun="dc_Circle(30)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 1.0" wp="CAM"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 1.0" wp="CAM"/>
       <call_once fun="dc_stop()"/>
       <deroute block="Standby"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_guided_flightplan.xml b/conf/flight_plans/rotorcraft_guided_flightplan.xml
index 9af756e075..0a169007a6 100644
--- a/conf/flight_plans/rotorcraft_guided_flightplan.xml
+++ b/conf/flight_plans/rotorcraft_guided_flightplan.xml
@@ -68,7 +68,7 @@ Remember to choose AP_MODE_GUIDED or else it won't work!!!
     <block name="Take off">
       <set var="desired_heading" value="stateGetNedToBodyEulers_f()->psi"/>
       <call_once fun="autopilot_guided_update(GUIDED_FLAG_XY_OFFSET_Z_VEL,0.,0.,-climb_descent_vel,desired_heading)"/>
-      <while cond="LessThan(stateGetPositionEnu_f()->z,nominal_alt-0.2)"/>
+      <while cond="LessThan(GetPosHeight(),nominal_alt-0.2)"/>
       <call_once fun="autopilot_guided_update(GUIDED_FLAG_XY_OFFSET,0.,0.,-nominal_alt,desired_heading)"/>    
       <while cond="LessThan(stage_time,1)"/>
     </block>
@@ -115,7 +115,7 @@ NOTE: A velocity forcefield in the horizontal plane applied here, so if an obsta
     <block name="Land">
       <set var="desired_heading" value="stateGetNedToBodyEulers_f()->psi"/>
       <call_once fun="autopilot_guided_update(GUIDED_FLAG_XY_OFFSET_Z_VEL,0.,0.,climb_descent_vel,desired_heading)"/>
-      <while cond="MoreThan(stateGetPositionEnu_f()->z,0.1)"/>
+      <while cond="MoreThan(GetPosHeight(),0.1)"/>
       <call_once fun="autopilot_guided_update(GUIDED_FLAG_XY_OFFSET_YAW_OFFSET,0.,0.,0.,0.)"/>
       <while cond="LessThan(block_time,5)"/>
       <deroute block="Kill Engines"/>
diff --git a/conf/flight_plans/rotorcraft_guido_optitrack.xml b/conf/flight_plans/rotorcraft_guido_optitrack.xml
index 57f3a51991..233a42d854 100644
--- a/conf/flight_plans/rotorcraft_guido_optitrack.xml
+++ b/conf/flight_plans/rotorcraft_guido_optitrack.xml
@@ -42,7 +42,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_joystick_enac.xml b/conf/flight_plans/rotorcraft_joystick_enac.xml
index dfc02ac3f4..b8b7b06973 100644
--- a/conf/flight_plans/rotorcraft_joystick_enac.xml
+++ b/conf/flight_plans/rotorcraft_joystick_enac.xml
@@ -65,7 +65,7 @@ static inline void joystick_handler(uint8_t sender_id __attribute__((unused)), i
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_STDBY)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="STDBY"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_optitrack.xml b/conf/flight_plans/rotorcraft_optitrack.xml
index 2b155c93be..29a2b47723 100644
--- a/conf/flight_plans/rotorcraft_optitrack.xml
+++ b/conf/flight_plans/rotorcraft_optitrack.xml
@@ -41,7 +41,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_optitrack_stereoavoid.xml b/conf/flight_plans/rotorcraft_optitrack_stereoavoid.xml
index 18488084ce..83a6ffc990 100644
--- a/conf/flight_plans/rotorcraft_optitrack_stereoavoid.xml
+++ b/conf/flight_plans/rotorcraft_optitrack_stereoavoid.xml
@@ -45,10 +45,10 @@
     <block name="Start Engine" strip_button="Start" strip_icon="takeoff.png">
       <call_once fun="NavResurrect()"/>
       <set value="stateGetNedToBodyEulers_i()->psi" var="nav_heading"/>
-      <attitude pitch="0" roll="0" throttle="0" until="stage_time > 1" vmode="throttle"/>
+      <attitude pitch="0" roll="0" throttle="0" until="stage_time @GT 1" vmode="throttle"/>
     </block>
     <block name="Takeoff">
-      <exception cond="stateGetPositionEnu_f()->z > 0.5" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 0.5" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -63,7 +63,7 @@
       <exception cond="electrical.bat_low" deroute="land here"/>
       <call_once fun="nav_set_heading_towards_waypoint(WP_GOAL)"/>
       <call_once fun="NavSetWaypointHere(WP_route_START)"/>
-      <stay until="stage_time > 3" wp="route_START"/>
+      <stay until="stage_time @GT 3" wp="route_START"/>
     </block>
     <block name="route_to_GOAL">
       <exception cond="GpsIsLost()" deroute="attitude_land"/>
@@ -107,7 +107,7 @@
       <exception cond="NavDetectGround()" deroute="landed"/>
       <exception cond="!nav_is_in_flight()" deroute="landed"/>
       <call_once fun="NavStartDetectGround()"/>
-      <stay climb="nav_descend_vspeed" until="stage_time > 4" vmode="climb" wp="TD"/>
+      <stay climb="nav_descend_vspeed" until="stage_time @GT 4" vmode="climb" wp="TD"/>
     </block>
     <block name="landed">
       <call_once fun="NavKillThrottle()"/>
diff --git a/conf/flight_plans/rotorcraft_survey.xml b/conf/flight_plans/rotorcraft_survey.xml
index 54b738f6ec..e658631928 100644
--- a/conf/flight_plans/rotorcraft_survey.xml
+++ b/conf/flight_plans/rotorcraft_survey.xml
@@ -40,7 +40,7 @@
       <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"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
     </block>
@@ -80,7 +80,7 @@
       <deroute block="Survey RECTANGLE RUN"/>
     </block>
     <block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
-      <exception cond="rectangle_survey_sweep_num > 1" deroute="Standby"/>
+      <exception cond="rectangle_survey_sweep_num @GT 1" deroute="Standby"/>
       <call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
     </block>
 
diff --git a/conf/flight_plans/rotorcraft_vision.xml b/conf/flight_plans/rotorcraft_vision.xml
index fab83eb5f1..670dba11c5 100644
--- a/conf/flight_plans/rotorcraft_vision.xml
+++ b/conf/flight_plans/rotorcraft_vision.xml
@@ -10,7 +10,7 @@
       <call_once fun="NavSetGroundReferenceHere()"/>
     </block>
     <block name="Holding point">
-      <!--exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(1.)" deroute="Standby"/-->
+      <!--exception cond="booz_ins_enu_pos.z @GT POS_BFP_OF_REAL(1.)" deroute="Standby"/-->
       <call_once fun="NavKillThrottle()"/>
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
     </block>
diff --git a/conf/flight_plans/tcas.xml b/conf/flight_plans/tcas.xml
index adfeb10824..7325bb5363 100644
--- a/conf/flight_plans/tcas.xml
+++ b/conf/flight_plans/tcas.xml
@@ -33,7 +33,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT 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"/>
@@ -53,7 +53,7 @@
       <circle radius="nav_radius" wp="MOB"/>
     </block>
     <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <call_once fun="nav_line_setup()"/>
       <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
     </block>
@@ -70,11 +70,11 @@
     </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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
@@ -83,7 +83,7 @@
     </block>
 
     <block name="TCAS">
-      <heading course="nav_course" alt="flight_altitude" until="nav_course > 359"/>
+      <heading course="nav_course" alt="flight_altitude" until="nav_course @GT 359"/>
       <call_once fun="Return()"/>
     </block>
   </blocks>
diff --git a/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo.xml b/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo.xml
index 2ea24e6b2e..5110fd89cc 100644
--- a/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo.xml
+++ b/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo.xml
@@ -41,38 +41,38 @@
   </sectors>
   <exceptions>
     <!-- RC lost -->
-    <!--exception cond="((radio_control.status == RC_REALLY_LOST) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <!--exception cond="((radio_control.status == RC_REALLY_LOST) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="Standby"/-->
     <!-- Datalink lost (constant RPM descent) -->
-    <exception cond="((datalink_time > 5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((datalink_time @GT 5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing XY -->
-    <exception cond="(!InsideCyberZoo(GetPosX(), GetPosY()) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(!InsideCyberZoo(GetPosX(), GetPosY()) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing Z 3.5 -->
-    <exception cond="((GetPosAlt() > 3.5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((GetPosAlt() @GT 3.5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing Z 4.5 (constant RPM descent)-->
-    <exception cond="((GetPosAlt() > 4.5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
+    <exception cond="((GetPosAlt() @GT 4.5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
       (autopilot_in_flight() == true) )" deroute="Landed"/>
     <!-- Bat low -->
-    <exception cond="(electrical.bat_low &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_low @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Bat critical (constant RPM no stabilization)-->
-    <exception cond="(electrical.bat_critical &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_critical @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
   </exceptions>
   <blocks>
@@ -94,7 +94,7 @@
       <call_once fun="NavResurrect()"/>
     </block>
     <block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > 0.8" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -122,7 +122,7 @@
     <block name="Flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
-      <exception cond="0.10 > GetPosAlt()" deroute="Landed"/>
+      <exception cond="0.10 @GT GetPosAlt()" deroute="Landed"/>
       <call_once fun="NavStartDetectGround()"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo_guided.xml b/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo_guided.xml
index 0909b8212a..9b3cbc8ee3 100644
--- a/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo_guided.xml
+++ b/conf/flight_plans/tudelft/course_orangeavoid_cyberzoo_guided.xml
@@ -49,38 +49,38 @@ inline void setGuided(void){
   </sectors>
   <exceptions>
     <!-- RC lost -->
-    <!--exception cond="((radio_control.status == RC_REALLY_LOST) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <!--exception cond="((radio_control.status == RC_REALLY_LOST) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="Standby"/-->
     <!-- Datalink lost (constant RPM descent) -->
-    <exception cond="((datalink_time > 5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((datalink_time @GT 5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing XY -->
-    <exception cond="(!InsideCyberZoo(GetPosX(), GetPosY()) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(!InsideCyberZoo(GetPosX(), GetPosY()) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing Z 2.5 -->
-    <exception cond="((GetPosAlt() > 3.5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((GetPosAlt() @GT 3.5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing Z 4.5 (constant RPM descent)-->
-    <exception cond="((GetPosAlt() > 4.5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
+    <exception cond="((GetPosAlt() @GT 4.5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
       (autopilot_in_flight() == true) )" deroute="Landed"/>
     <!-- Bat low -->
-    <exception cond="(electrical.bat_low &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_low @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Bat critical (constant RPM no stabilization)-->
-    <exception cond="(electrical.bat_critical &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_critical @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
   </exceptions>
   <blocks>
@@ -102,7 +102,7 @@ inline void setGuided(void){
       <call_once fun="NavResurrect()"/>
     </block>
     <block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > 0.8" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -133,7 +133,7 @@ inline void setGuided(void){
     <block name="Flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
-      <exception cond="0.10 > GetPosAlt()" deroute="Landed"/>
+      <exception cond="0.10 @GT GetPosAlt()" deroute="Landed"/>
       <call_once fun="NavStartDetectGround()"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/tudelft/cyclone_valkenburg.xml b/conf/flight_plans/tudelft/cyclone_valkenburg.xml
index 8bba129774..e7a56fd568 100644
--- a/conf/flight_plans/tudelft/cyclone_valkenburg.xml
+++ b/conf/flight_plans/tudelft/cyclone_valkenburg.xml
@@ -32,7 +32,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 5.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/delfly_nimble_cyberzoo.xml b/conf/flight_plans/tudelft/delfly_nimble_cyberzoo.xml
index 4dcea07b95..ea7fae38f9 100644
--- a/conf/flight_plans/tudelft/delfly_nimble_cyberzoo.xml
+++ b/conf/flight_plans/tudelft/delfly_nimble_cyberzoo.xml
@@ -41,7 +41,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/delft_basic.xml b/conf/flight_plans/tudelft/delft_basic.xml
index 17ce8d07f3..54d78620cf 100644
--- a/conf/flight_plans/tudelft/delft_basic.xml
+++ b/conf/flight_plans/tudelft/delft_basic.xml
@@ -20,9 +20,9 @@
   </waypoints>
   <exceptions>
     <!-- RC-Loss -->
-    <exception cond="((radio_control.status == RC_REALLY_LOST) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((radio_control.status == RC_REALLY_LOST) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="ComeBackAndLand"/>
 
     <!-- GPS loss -->
@@ -32,20 +32,20 @@
     <!-- Not done from flight plan -->
 
     <!-- Datalink loss -->
-    <exception cond="(datalink_time > 60 &&
-      !(datalink_time > 120) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(datalink_time @GT 60 @AND
+      !(datalink_time @GT 120) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="DatalinkLoss"/>
 
     <!-- Battery loss -->
-    <exception cond="(electrical.bat_low &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_low @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="ComeBackAndLand"/>
-    <exception cond="(electrical.bat_critical &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_critical @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
   </exceptions>
 
@@ -67,7 +67,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -97,7 +97,7 @@
     <block name="test yaw">
       <go wp="p1"/>
       <for from="1" to="16" var="i">
-        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
+        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time @GT 3"/>
       </for>
       <deroute block="Standby"/>
     </block>
diff --git a/conf/flight_plans/tudelft/delft_bebop.xml b/conf/flight_plans/tudelft/delft_bebop.xml
index 9c1b4181ed..4fb6a03207 100644
--- a/conf/flight_plans/tudelft/delft_bebop.xml
+++ b/conf/flight_plans/tudelft/delft_bebop.xml
@@ -32,22 +32,22 @@
   </sectors>
   <exceptions>
     <exception cond="!InsideFlight_Area(GetPosX(), GetPosY())" deroute="Holding point"/>
-    <exception cond="((radio_control.status == RC_REALLY_LOST) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((radio_control.status == RC_REALLY_LOST) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="descend att 0"/>
-    <exception cond="(datalink_time > 60 &&
-      !(datalink_time > 120) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(datalink_time @GT 60 @AND
+      !(datalink_time @GT 120) @AND
+      !(IndexOfBlock('Takeoff') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="ComeBackAndLand"/>
-    <exception cond="(electrical.bat_low &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_low @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="ComeBackAndLand"/>
-    <exception cond="(electrical.bat_critical &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_critical @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
   </exceptions>
   <blocks>
@@ -68,7 +68,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -98,7 +98,7 @@
     <block name="test yaw">
       <go wp="p1"/>
       <for from="1" to="16" var="i">
-        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
+        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time @GT 3"/>
       </for>
       <deroute block="Standby"/>
     </block>
@@ -125,7 +125,7 @@
       <deroute block="land here"/>
     </block>
     <block name="descend att 0">
-      <attitude pitch="0" roll="0" throttle="0.40" until="stage_time > 30" vmode="throttle"/>
+      <attitude pitch="0" roll="0" throttle="0.40" until="stage_time @GT 30" vmode="throttle"/>
       <deroute block="Holding point"/>
     </block>
   </blocks>
diff --git a/conf/flight_plans/tudelft/fan_demo.xml b/conf/flight_plans/tudelft/fan_demo.xml
index 7b7484fd1d..75b5e0be2a 100644
--- a/conf/flight_plans/tudelft/fan_demo.xml
+++ b/conf/flight_plans/tudelft/fan_demo.xml
@@ -39,7 +39,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 0.3" deroute="stay_p1"/>
+      <exception cond="GetPosHeight() @GT 0.3" deroute="stay_p1"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml b/conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml
index 183e13f8fe..71f7f887ca 100644
--- a/conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml
+++ b/conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml
@@ -25,9 +25,9 @@
   </header>
 
   <exceptions>
-      <exception cond="electrical.bat_low && (exception_flag[0] == 0)" deroute="ComeBackAndLand" exec="set_exception_flag(0)"/>
-      <exception cond="electrical.bat_critical && (exception_flag[1] == 0)" deroute="land_here" exec="set_exception_flag(1)"/>
-    <exception cond="(!InsideRED(GetPosX(), GetPosY()) && !(nav_block == IndexOfBlock('flare')) && !(nav_block == IndexOfBlock('landed')) && !(nav_block == IndexOfBlock('WaitGPS')) && !(nav_block == IndexOfBlock('GeoInit')))" deroute="land_emergency"/>
+      <exception cond="electrical.bat_low @AND (exception_flag[0] == 0)" deroute="ComeBackAndLand" exec="set_exception_flag(0)"/>
+      <exception cond="electrical.bat_critical @AND (exception_flag[1] == 0)" deroute="land_here" exec="set_exception_flag(1)"/>
+    <exception cond="(!InsideRED(GetPosX(), GetPosY()) @AND !(nav_block == IndexOfBlock('flare')) @AND !(nav_block == IndexOfBlock('landed')) @AND !(nav_block == IndexOfBlock('WaitGPS')) @AND !(nav_block == IndexOfBlock('GeoInit')))" deroute="land_emergency"/>
   </exceptions>
 
   <blocks>
@@ -52,22 +52,22 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff-Standby" strip_button="Takeoff-Standby" strip_icon="takeoff.png" group="takeoff">
-      <exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 10.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
     <block name="Takeoff-Map" strip_button="Takeoff-Map" strip_icon="survey.png" group="takeoff">
-      <exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="SurveyPoly"/>
+      <exception cond="GetPosHeight() @GT 10.0" deroute="SurveyPoly"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
     <block name="Takeoff-Drop" strip_button="Takeoff-Drop" strip_icon="parachute.png" group="takeoff">
-      <exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="drop"/>
+      <exception cond="GetPosHeight() @GT 10.0" deroute="drop"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
     <block name="Takeoff-Water" strip_button="Takeoff-Water" group="takeoff">
-      <exception cond="stateGetPositionEnu_f()->z > 27.0" deroute="drop_water"/>
+      <exception cond="GetPosHeight() @GT 27.0" deroute="drop_water"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -82,24 +82,24 @@
       <go wp="CRUISE"/>
     </block>
     <block name="LookRobot" >
-      <stay climb="nav_descend_vspeed" vmode="climb" wp="FC" until="LessThan(stateGetPositionEnu_f()->z, 20)"/>
+      <stay climb="nav_descend_vspeed" vmode="climb" wp="FC" until="LessThan(GetPosHeight(), 20)"/>
       <call_once fun="NavCopyWaypointPositionOnly(WP_CAM,WP_FC)"/>
     </block>
     <block name="Vision" >
       <exception cond="! InsideTENNIS(GetPosX(), GetPosY())" deroute="NoVision"/>
-      <exception cond="block_time > 60" deroute="ComeBackAndVisualLand"/>
+      <exception cond="block_time @GT 60" deroute="ComeBackAndVisualLand"/>
       <call_once fun="StartVision()"/>
       <stay wp="CAM"/>
     </block>
     <block name="NoVision" >
-      <exception cond="block_time > 60" deroute="ComeBackAndLand"/>
+      <exception cond="block_time @GT 60" deroute="ComeBackAndLand"/>
       <call_once fun="StartVision()"/>
       <stay wp="FC"/>
     </block>
     <block name="ComeBackAndLand" strip_button="ComeBackAndLand" strip_icon="land-right.png" group="hover">
       <call_once fun="StopVision()"/>
       <call_once fun="NavSetWaypointHere(WP_CRUISE)"/>
-      <stay climb="nav_climb_vspeed" vmode="climb" wp="CRUISE" until="stateGetPositionEnu_f()->z > 30"/>
+      <stay climb="nav_climb_vspeed" vmode="climb" wp="CRUISE" until="GetPosHeight() @GT 30"/>
       <call_once fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_TD)"/>
       <go wp="CRUISE"/>
       <deroute block="land"/>
@@ -107,7 +107,7 @@
     <block name="ComeBackAndVisualLand">
       <call_once fun="StopVision()"/>
       <call_once fun="NavSetWaypointHere(WP_CRUISE)"/>
-      <stay climb="nav_climb_vspeed" vmode="climb" wp="CRUISE" until="stateGetPositionEnu_f()->z > 30"/>
+      <stay climb="nav_climb_vspeed" vmode="climb" wp="CRUISE" until="GetPosHeight() @GT 30"/>
       <call_once fun="NavCopyWaypointPositionOnly(WP_CRUISE,WP_TD)"/>
       <call_once fun="NavCopyWaypointPositionOnly(WP_CAM,WP_TD)"/>
       <go wp="CRUISE"/>
@@ -138,37 +138,37 @@
 <!-- DROPPINGS -->
     <block name="drop" group="drop">
        <go wp="DROP"/>
-       <stay climb="nav_descend_vspeed" vmode="climb" wp="DROP" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
+       <stay climb="nav_descend_vspeed" vmode="climb" wp="DROP" until="LessThan(GetPosHeight(), 6)"/>
        <call_once fun="DropOpen()"/>
-       <stay climb="nav_climb_vspeed" vmode="climb" wp="DROP" until="stateGetPositionEnu_f()->z > 13"/>
+       <stay climb="nav_climb_vspeed" vmode="climb" wp="DROP" until="GetPosHeight() @GT 13"/>
        <deroute block="land"/>
     </block>
     <block name="drop_zone1" group="drop">
        <go wp="RZ1"/>
-       <stay climb="nav_descend_vspeed" vmode="climb" wp="RZ1" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
+       <stay climb="nav_descend_vspeed" vmode="climb" wp="RZ1" until="LessThan(GetPosHeight(), 6)"/>
        <call_once fun="DropOpen()"/>
-       <stay climb="nav_climb_vspeed" vmode="climb" wp="RZ1" until="stateGetPositionEnu_f()->z > 13"/>
+       <stay climb="nav_climb_vspeed" vmode="climb" wp="RZ1" until="GetPosHeight() @GT 13"/>
        <deroute block="land"/>
     </block>
     <block name="drop_zone2" group="drop">
        <go wp="RZ2"/>
-       <stay climb="nav_descend_vspeed" vmode="climb" wp="RZ2" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
+       <stay climb="nav_descend_vspeed" vmode="climb" wp="RZ2" until="LessThan(GetPosHeight(), 6)"/>
        <call_once fun="DropOpen()"/>
-       <stay climb="nav_climb_vspeed" vmode="climb" wp="RZ2" until="stateGetPositionEnu_f()->z > 13"/>
+       <stay climb="nav_climb_vspeed" vmode="climb" wp="RZ2" until="GetPosHeight() @GT 13"/>
        <deroute block="land"/>
     </block>
     <block name="drop_zone3" group="drop">
        <go wp="RZ3"/>
-       <stay climb="nav_descend_vspeed" vmode="climb" wp="RZ3" until="LessThan(stateGetPositionEnu_f()->z, 6)"/>
+       <stay climb="nav_descend_vspeed" vmode="climb" wp="RZ3" until="LessThan(GetPosHeight(), 6)"/>
        <call_once fun="DropOpen()"/>
-       <stay climb="nav_climb_vspeed" vmode="climb" wp="RZ3" until="stateGetPositionEnu_f()->z > 13"/>
+       <stay climb="nav_climb_vspeed" vmode="climb" wp="RZ3" until="GetPosHeight() @GT 13"/>
        <deroute block="land"/>
     </block>
     <block name="drop_water" group="drop">
        <go wp="WD"/>
-       <stay climb="nav_descend_vspeed" vmode="climb" wp="WD" until="LessThan(stateGetPositionEnu_f()->z, 8)"/>
+       <stay climb="nav_descend_vspeed" vmode="climb" wp="WD" until="LessThan(GetPosHeight(), 8)"/>
        <call_once fun="DropOpen()"/>
-       <stay climb="nav_climb_vspeed" vmode="climb" wp="WD" until="stateGetPositionEnu_f()->z > 12"/>
+       <stay climb="nav_climb_vspeed" vmode="climb" wp="WD" until="GetPosHeight() @GT 12"/>
        <deroute block="land"/>
     </block>
 
diff --git a/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml b/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml
index afe6cc250d..1ab7b2841e 100644
--- a/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml
+++ b/conf/flight_plans/tudelft/mavtec_outdoor_demo.xml
@@ -34,7 +34,7 @@
       <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"/>
+      <exception cond="GetPosHeight() @GT 2.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="0.5" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/nederdrone_valkenburg.xml b/conf/flight_plans/tudelft/nederdrone_valkenburg.xml
index 88791087b6..6f2a4cc812 100644
--- a/conf/flight_plans/tudelft/nederdrone_valkenburg.xml
+++ b/conf/flight_plans/tudelft/nederdrone_valkenburg.xml
@@ -47,8 +47,8 @@
     </module>
   </modules>
   <exceptions>
-    <exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 1500) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
-    <exception cond="datalink_time > 25 && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
+    <exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
+    <exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -70,12 +70,12 @@
       <attitude pitch="-65" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
     </block>
     <block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 18.0" deroute="Takeoff"/>
+      <exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
       <call_once fun="nav_set_heading_current()"/>
       <attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 40.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 40.0" deroute="Standby"/>
       <call_once fun="nav_set_heading_current()"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
@@ -142,7 +142,7 @@
     </block>
     <block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
       <set value="TRUE" var="force_forward"/>
-      <exception cond="rectangle_survey_sweep_num > 1" deroute="Standby"/>
+      <exception cond="rectangle_survey_sweep_num @GT 1" deroute="Standby"/>
       <call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
     </block>
 
@@ -160,7 +160,7 @@
     </block>
     <block name="descend">
       <set value="FALSE" var="force_forward"/>
-      <exception cond="LessThan(stateGetPositionEnu_f()->z, 15.0)" deroute="flare"/>
+      <exception cond="LessThan(GetPosHeight(), 15.0)" deroute="flare"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
     <block name="flare">
diff --git a/conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml b/conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml
index dd9d7f899e..750ddab055 100644
--- a/conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml
+++ b/conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml
@@ -72,38 +72,38 @@ inline void setGuided(void){
   </sectors>
   <exceptions>
     <!-- RC lost -->
-    <!--exception cond="((radio_control.status == RC_REALLY_LOST) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <!--exception cond="((radio_control.status == RC_REALLY_LOST) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="Standby"/-->
     <!-- Datalink lost (constant RPM descent) -->
-    <exception cond="((datalink_time > 5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((datalink_time @GT 5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing XY -->
-    <exception cond="(!InsideCyberZoo(GetPosX(), GetPosY()) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(!InsideCyberZoo(GetPosX(), GetPosY()) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing Z 3.5 -->
-    <exception cond="((GetPosAlt() > 3.5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="((GetPosAlt() @GT 3.5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Geofencing Z 4.5 (constant RPM descent)-->
-    <exception cond="((GetPosAlt() > 4.5) &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
+    <exception cond="((GetPosAlt() @GT 4.5) @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
       (autopilot_in_flight() == true) )" deroute="Landed"/>
     <!-- Bat low -->
-    <exception cond="(electrical.bat_low &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_low @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
     <!-- Bat critical (constant RPM no stabilization)-->
-    <exception cond="(electrical.bat_critical &&
-      !(IndexOfBlock('Holding point') > nav_block) &&
-      !(nav_block >= IndexOfBlock('land here')) &&
+    <exception cond="(electrical.bat_critical @AND
+      !(IndexOfBlock('Holding point') @GT nav_block) @AND
+      !(nav_block >= IndexOfBlock('land here')) @AND
       (autopilot_in_flight() == true) )" deroute="land here"/>
   </exceptions>
   <blocks>
@@ -130,7 +130,7 @@ inline void setGuided(void){
     
     
     <block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > 0.8" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP__CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="_CLIMB"/>
     </block>
@@ -185,7 +185,7 @@ inline void setGuided(void){
     <block name="Flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
-      <exception cond="0.10 > GetPosAlt()" deroute="Landed"/>
+      <exception cond="0.10 @GT GetPosAlt()" deroute="Landed"/>
       <call_once fun="NavStartDetectGround()"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="_TD"/>
     </block>
diff --git a/conf/flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml b/conf/flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml
index e511eb37f3..b68c497b24 100644
--- a/conf/flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml
+++ b/conf/flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml
@@ -62,7 +62,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/rotorcraft_cyberzoo_no_gps.xml b/conf/flight_plans/tudelft/rotorcraft_cyberzoo_no_gps.xml
index 0981593c55..3ccfe46063 100644
--- a/conf/flight_plans/tudelft/rotorcraft_cyberzoo_no_gps.xml
+++ b/conf/flight_plans/tudelft/rotorcraft_cyberzoo_no_gps.xml
@@ -37,7 +37,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
+      <exception cond="GetPosHeight() @GT 1.0" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/rotorcraft_optitrack_path.xml b/conf/flight_plans/tudelft/rotorcraft_optitrack_path.xml
index 56c1622556..351be4873f 100644
--- a/conf/flight_plans/tudelft/rotorcraft_optitrack_path.xml
+++ b/conf/flight_plans/tudelft/rotorcraft_optitrack_path.xml
@@ -60,7 +60,7 @@
       <attitude pitch="0" roll="0" throttle="0" vmode="throttle" />
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 0.5" deroute="Standby" />
+      <exception cond="GetPosHeight() @GT 0.5" deroute="Standby" />
       <call_once fun="NavSetWaypointHere(WP_CLIMB)" />
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
diff --git a/conf/flight_plans/tudelft/train_safe_zoo.xml b/conf/flight_plans/tudelft/train_safe_zoo.xml
index 942751d0ad..d6d6bd4564 100644
--- a/conf/flight_plans/tudelft/train_safe_zoo.xml
+++ b/conf/flight_plans/tudelft/train_safe_zoo.xml
@@ -36,7 +36,7 @@
     </sector>
   </sectors>
   <exceptions>
-    <exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() > 2.2) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init'))" deroute="safe"/>
+    <exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT 2.2) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init'))" deroute="safe"/>
   </exceptions>
   <blocks>
     <block name="Wait GPS">
@@ -57,7 +57,7 @@
       <call_once fun="NavResurrect()"/>
     </block>
     <block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > 0.8" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT 0.8" deroute="Standby"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -83,13 +83,13 @@
     <block name="Flare">
       <exception cond="NavDetectGround()" deroute="Holding point"/>
       <exception cond="!nav_is_in_flight()" deroute="Landed"/>
-      <exception cond="0.10 > GetPosAlt()" deroute="Landed"/>
+      <exception cond="0.10 @GT GetPosAlt()" deroute="Landed"/>
       <call_once fun="NavStartDetectGround()"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
     <block name="Safe landing">
       <exception cond="!nav_is_in_flight()" deroute="Manual"/>
-      <exception cond="0.10 > GetPosAlt()" deroute="Manual"/>
+      <exception cond="0.10 @GT GetPosAlt()" deroute="Manual"/>
       <call_once fun="NavStartDetectGround()"/>
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index 4cec503654..b616ede72a 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -48,7 +48,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <go wp="CLIMB"/>
     </block>
@@ -73,25 +73,25 @@
       <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
     </block>
     <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
+      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
     </block>
     <block name="Climb 0m/s">
-      <circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="0" radius="nav_radius" until="10 @GT PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb 1m/s">
-      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 @GT PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="climb" wp="1"/>
+      <circle climb="nav_climb" radius="nav_radius" until="(10 @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 1350)" vmode="climb" wp="1"/>
     </block>
 
     <block name="Circle 0% throttle">
-      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
+      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 @GT GetPosAlt()" vmode="throttle" wp="1"/>
       <deroute block="Standby"/>
     </block>
 
     <block name="Oval 0% throttle">
-      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
+      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 @GT GetPosAlt()" vmode="throttle"/>
       <deroute block="Standby"/>
     </block>
 
@@ -125,12 +125,12 @@
     </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="NavCircleCount() @GT 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
     <block name="flare">
@@ -139,26 +139,26 @@
     </block>
     <block name="Steps roll -10, +10">
       <while cond="TRUE">
-        <attitude alt="250" roll="10.0" until=" stage_time > 6" vmode="alt"/>
-        <attitude alt="250" roll="-10.0" until="stage_time > 6" vmode="alt"/>
+        <attitude alt="250" roll="10.0" until=" stage_time @GT 6" vmode="alt"/>
+        <attitude alt="250" roll="-10.0" until="stage_time @GT 6" vmode="alt"/>
       </while>
     </block>
     <block name="Steps roll -20, +20">
       <while cond="TRUE">
-        <attitude alt="250" roll="20.0" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
+        <attitude alt="250" roll="20.0" until=" stage_time @GT 3" vmode="alt"/>
+        <attitude alt="250" roll="-20.0" until="stage_time @GT 3" vmode="alt"/>
       </while>
     </block>
     <block name="Steps roll from var">
       <while cond="TRUE">
-        <attitude alt="250" roll="roll_step" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="250" roll="-roll_step" until="stage_time > 3" vmode="alt"/>
+        <attitude alt="250" roll="roll_step" until=" stage_time @GT 3" vmode="alt"/>
+        <attitude alt="250" roll="-roll_step" until="stage_time @GT 3" vmode="alt"/>
       </while>
     </block>
     <block name="Steps pitch -10, +10">
       <while cond="TRUE">
-        <attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-        <attitude alt="250" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
+        <attitude alt="250" pitch="10" roll="0.0" until=" stage_time @GT 2" vmode="alt"/>
+        <attitude alt="250" pitch="-10" roll="0.0" until=" stage_time @GT 2" vmode="alt"/>
       </while>
     </block>
     <block name="Heading 30">
@@ -166,12 +166,12 @@
     </block>
     <block name="For loop (circles wp 1)">
       <for from="0" to="3" var="i">
-        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
+        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() @GT 1"/>
       </for>
       <deroute block="Standby"/>
     </block>
     <block name="Test datalink (go to wp 2)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <go from="STDBY" hmode="route" wp="2"/>
       <go from="2" hmode="route" wp="STDBY"/>
     </block>
diff --git a/conf/flight_plans/versatile_airspeed.xml b/conf/flight_plans/versatile_airspeed.xml
index 2966b053e8..e2fbe7856b 100644
--- a/conf/flight_plans/versatile_airspeed.xml
+++ b/conf/flight_plans/versatile_airspeed.xml
@@ -45,7 +45,7 @@
       <attitude roll="0" throttle="0" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
+      <exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
       <set value="0" var="autopilot.kill_throttle"/>
       <set value="CLIMB_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
       <go wp="CLIMB"/>
@@ -69,25 +69,25 @@
       <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
     </block>
     <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
+      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
     </block>
     <block name="Climb 0m/s">
-      <circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="0" radius="nav_radius" until="10 @GT PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb 1m/s">
-      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
+      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 @GT PowerVoltage()" vmode="climb" wp="1"/>
     </block>
     <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="climb" wp="1"/>
+      <circle climb="nav_climb" radius="nav_radius" until="(10 @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 1350)" vmode="climb" wp="1"/>
     </block>
 
     <block name="Circle 0% throttle">
-      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
+      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 @GT GetPosAlt()" vmode="throttle" wp="1"/>
       <deroute block="Standby"/>
     </block>
 
     <block name="Oval 0% throttle">
-      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
+      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 @GT GetPosAlt()" vmode="throttle"/>
       <deroute block="Standby"/>
     </block>
 
@@ -132,9 +132,9 @@
     <block name="land">
       <set value="NOMINAL_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
       <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="NavCircleCount() @GT 0.5" wp="BASELEG"/>
       <set value="GLIDE_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
       <go from="AF" hmode="route" vmode="glide" wp="TD" approaching_time="5" />
@@ -146,20 +146,20 @@
     </block>
     <block name="Steps roll -10, +10">
       <while cond="TRUE">
-        <attitude alt="250" roll="10.0" until=" stage_time > 6" vmode="alt"/>
-        <attitude alt="250" roll="-10.0" until="stage_time > 6" vmode="alt"/>
+        <attitude alt="250" roll="10.0" until=" stage_time @GT 6" vmode="alt"/>
+        <attitude alt="250" roll="-10.0" until="stage_time @GT 6" vmode="alt"/>
       </while>
     </block>
     <block name="Steps roll -20, +20">
       <while cond="TRUE">
-        <attitude alt="250" roll="20.0" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
+        <attitude alt="250" roll="20.0" until=" stage_time @GT 3" vmode="alt"/>
+        <attitude alt="250" roll="-20.0" until="stage_time @GT 3" vmode="alt"/>
       </while>
     </block>
     <block name="Steps pitch -10, +10">
       <while cond="TRUE">
-        <attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-        <attitude alt="250" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
+        <attitude alt="250" pitch="10" roll="0.0" until=" stage_time @GT 2" vmode="alt"/>
+        <attitude alt="250" pitch="-10" roll="0.0" until=" stage_time @GT 2" vmode="alt"/>
       </while>
     </block>
     <block name="Heading 30">
@@ -167,12 +167,12 @@
     </block>
     <block name="For loop (circles wp 1)">
       <for from="0" to="3" var="i">
-        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
+        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() @GT 1"/>
       </for>
       <deroute block="Standby"/>
     </block>
     <block name="Test datalink (go to wp 2)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
+      <exception cond="datalink_time @GT 22" deroute="Standby"/>
       <go from="STDBY" hmode="route" wp="2"/>
       <go from="2" hmode="route" wp="STDBY"/>
     </block>
diff --git a/conf/flight_plans/zamboni_survey_test.xml b/conf/flight_plans/zamboni_survey_test.xml
index 4044fbe3a0..ff513e5cec 100644
--- a/conf/flight_plans/zamboni_survey_test.xml
+++ b/conf/flight_plans/zamboni_survey_test.xml
@@ -34,7 +34,7 @@
       <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"/>
+      <exception cond="GetPosAlt() @GT 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"/>
@@ -61,11 +61,11 @@
     </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"/>
+      <circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
+      <exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
       <go from="AF" hmode="route" vmode="glide" wp="TD"/>
     </block>
 
diff --git a/sw/airborne/firmwares/fixedwing/nav.h b/sw/airborne/firmwares/fixedwing/nav.h
index f5619cfdd7..fe72b9873b 100644
--- a/sw/airborne/firmwares/fixedwing/nav.h
+++ b/sw/airborne/firmwares/fixedwing/nav.h
@@ -226,6 +226,8 @@ bool nav_approaching_xy(float x, float y, float from_x, float from_y, float appr
 #define GetPosY() (stateGetPositionEnu_f()->y)
 /// Get current altitude above MSL
 #define GetPosAlt() (stateGetPositionUtm_f()->alt)
+/// Get current height above reference
+#define GetPosHeight() (stateGetPositionEnu_f()->z)
 /**
  * Get current altitude reference for local coordinates.
  * This is the ground_alt from the flight plan at first,
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h
index 425d43a094..24c3b094e2 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.h
+++ b/sw/airborne/firmwares/rotorcraft/navigation.h
@@ -93,6 +93,8 @@ extern bool exception_flag[10];
 #define GetPosY() (stateGetPositionEnu_f()->y)
 /// Get current altitude above MSL
 #define GetPosAlt() (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)
+/// Get current height above reference
+#define GetPosHeight() (stateGetPositionEnu_f()->z)
 /**
  * Get current altitude reference for local coordinates.
  * This is the ground_alt from the flight plan at first,
diff --git a/sw/airborne/firmwares/rover/navigation.h b/sw/airborne/firmwares/rover/navigation.h
index bf4f58894b..c40a0b61bd 100644
--- a/sw/airborne/firmwares/rover/navigation.h
+++ b/sw/airborne/firmwares/rover/navigation.h
@@ -131,6 +131,8 @@ extern void nav_register_oval(nav_rover_oval_init nav_oval_init, nav_rover_oval
 #define GetPosY() (stateGetPositionEnu_f()->y)
 /// Get current altitude above MSL
 #define GetPosAlt() (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)
+/// Get current height above reference
+#define GetPosHeight() (stateGetPositionEnu_f()->z)
 /**
  * Get current altitude reference for local coordinates.
  * This is the ground_alt from the flight plan at first,