<flight_plan name="8 - ricou"
  lat0="43.237535" lon0="1.327747"
  ref_pos="ricou"
  qfu="225" ground_alt="390" security_height="25" alt = "490">

<waypoints>
  <waypoint name="HOME" x="-30" y="-100" alt="492"/>
  <waypoint x="150" y="-100"/>
  <waypoint x="150" y="-150"/>
  <waypoint x="-150" y="-100"/>
  <waypoint x="-150" y="-150"/>
</waypoints>

<blocks>
  <block name="init">
    <while cond="(estimator_flight_time)"></while>
    <heading course="QFU" vmode="climb" climb="2.0" until="(estimator_z > SECURITY_ALT)"/>
  </block>

  <block name="balaye">
    <while>
      <go wp="1" hmode="route"  vmode="alt" alt="465"/>
      <go wp="2" hmode="direct" vmode="alt" alt="465"/>
      <go wp="3" hmode="route" vmode="alt" alt="465"/>
      <go wp="4" hmode="direct" vmode="alt" alt="465"/>
    </while>
  </block>

</blocks>
</flight_plan>