<!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"
</header>
  <waypoints>
    <waypoint name="HOME" x="0" y="0"/>
    <waypoint name="STDBY" x="25.1" y="102.1"/>
    <waypoint name="1" x="115.4" y="191.1"/>
    <waypoint name="3" x="332.7" y="100.6"/>
    <waypoint name="2" x="107.5" y="16.3"/>
    <waypoint name="CLIMB" x="-67.3" y="98.8"/>
  </waypoints>
  <exceptions/>
  <blocks>
    <block name="Geo init">
      <call fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Takeoff">
      <exception cond="estimator_z > ground_alt+25" deroute="HSIF"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="estimator_flight_time"/>
      <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
    </block>
    <block name="HSIF">
      <circle radius="200" until="estimator_x > 200" wp="2"/>
      <circle radius="-75" until="NavQdrCloseTo(330)" wp="3"/>
      <circle radius="200" until="0 > estimator_x" wp="1"/>
      <circle radius="35" wp="STDBY"/>
    </block>
  </blocks>
</flight_plan>