tl.xml
<flight_plan name="booz test 1" lon0="-118.860691" lat0="34.233845" ground_alt="328" alt="330" max_dist_from_home="100" security_height="1">
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="TARGET" x="10" y="0"/>
</waypoints>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<set value="1" var="kill_throttle"/>
<stay wp="HOME"/>
</block>
<block name="vertical steps" strip_button="Vert. Steps">
<while cond="TRUE">
<set var="tl_control_agl_sp" value="-3"/>
<while cond="15 > stage_time"/>
<set var="tl_control_agl_sp" value="-5"/>
<while cond="15 > stage_time"/>
</while>
</block>
<block name="vertical RC" strip_button="Vert. RC">
<while cond="TRUE">
<set var="tl_control_agl_sp" value=" -5. * rc_values[RADIO_THROTTLE]/MAX_PPRZ"/>
</while>
</block>
<block name="on ground">
<exception cond="estimator_in_flight" deroute="flying"/>
<!-- <set value="1" var="kill_throttle"/> -->
<stay wp="TARGET"/>
</block>
<block name="flying">
<!-- <exception cond="!estimator_in_flight" deroute="on ground"/> -->
<call fun="NavSetWaypointHere(WP_TARGET)"/>
<set value="0" var="kill_throttle"/>
<stay wp="TARGET"/>
</block>
</blocks>
</flight_plan>