<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
  <header>
#include "subsystems/navigation/nav_line.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/navigation/snav.h"
</header>
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="49.5" y="100.1"/>
    <waypoint name="1" x="226.7" y="92.4"/>
    <waypoint name="2" x="236.0" y="214.7"/>
    <waypoint name="MOB" x="137.0" y="-11.6"/>
    <waypoint name="S1" x="-119.2" y="69.6"/>
    <waypoint name="S2" x="274.4" y="209.5"/>
    <waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
    <waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
  </waypoints>
  <exceptions/>
  <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"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="estimator_flight_time"/>
      <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block name="Smooth nav">
      <set var="snav_desired_tow" value="gps_itow / 1000. + 200."/>
      <call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
      <call fun="snav_circle1()"/>
      <call fun="snav_route()"/>
      <call fun="snav_circle2()"/>
      <call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
      <go from="1" hmode="route" wp="2"/>
      <deroute block="Standby"/>
    </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(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
    </block>
    <block name="final">
      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
    </block>
    <block name="flare">
      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
    </block>
  </blocks>
</flight_plan>