<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>