<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="400" ground_alt="387" lat0="37.0380740" lon0="-122.1428470" max_dist_from_home="4000" name="Rotorcraft TRI Field" security_height="2">
  <header>
#include "autopilot.h"
</header>
  <waypoints>
    <waypoint name="HOME" x="0.0" y="0.0"/>
    <waypoint name="CLIMB" x="0.0" y="5.0"/>
    <waypoint name="STDBY" x="-21.7" y="-4.4"/>
    <waypoint name="p1" x="-43.9" y="-0.0"/>
    <waypoint name="p2" x="-52.3" y="23.2"/>
    <waypoint name="p3" x="-63.9" y="1.4"/>
    <waypoint name="p4" x="-55.4" y="-7.1"/>
    <waypoint name="CAM" x="-53.7" y="8.8"/>
    <waypoint name="TD" x="-7.3" y="-5.2"/>
  </waypoints>
  <blocks>
    <block name="Wait GPS">
      <call fun="NavKillThrottle()"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <call fun="NavKillThrottle()"/>
      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
    </block>
    <block name="Start Engine">
      <call fun="NavResurrect()"/>
      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
    </block>
    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
      <exception cond="ins_enu_pos.z > POS_BFP_OF_REAL(2.)" deroute="Standby"/>
      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
      <stay climb="0.5" vmode="climb" wp="CLIMB"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <stay wp="STDBY"/>
    </block>
    <block name="stay_p1">
      <stay wp="p1"/>
    </block>
    <block name="go_p2">
      <go wp="p2"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="line_p1_p2">
      <go from="p1" hmode="route" wp="p2"/>
      <stay until="stage_time>10" wp="p2"/>
      <go from="p2" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="route">
      <go from="p1" hmode="route" wp="p3"/>
      <go from="p3" hmode="route" wp="p4"/>
      <go from="p4" hmode="route" wp="p1"/>
      <deroute block="stay_p1"/>
    </block>
    <block name="circle">
      <circle radius="nav_radius" wp="p1"/>
    </block>
    <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
      <call fun="NavSetWaypointHere(WP_TD)"/>
    </block>
    <block name="land">
      <go wp="TD"/>
    </block>
    <block name="flare">
      <exception cond="NavDetectGround()" deroute="Holding point"/>
      <call fun="NavStartDetectGround()"/>
      <stay climb="-0.8" vmode="climb" wp="TD"/>
    </block>
  </blocks>
</flight_plan>