<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="75" ground_alt="0" lat0="32.6078" lon0="-110.891556" max_dist_from_home="300" name="Basic" security_height="25">
  <header>
#include "nav_line.h"
#include "datalink.h"
</header>
  <waypoints>
    <waypoint name="HOME" x="-78.7" y="60.3"/>
    <waypoint name="STDBY" x="-93.7" y="79.0"/>
    <waypoint name="1" x="-41.1" y="103.9"/>
    <waypoint alt="85.0" name="2" x="-129.2" y="51.5"/>
    <waypoint name="3" x="-107.7" y="-41.7"/>
    <waypoint name="4" x="-7.2" y="-35.9"/>
    <waypoint name="5" x="39.2" y="26.4"/>
    <waypoint name="6" x="76.6" y="37.7"/>
    <waypoint name="7" x="-53.9" y="-43.9"/>
    <waypoint name="8" x="22.4" y="-13.9"/>
    <waypoint name="CLIMB" x="9.0" y="132.6"/>
  </waypoints>
  <exceptions>
    <exception cond="datalink_time > 20" deroute="Standby"/>
  </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 key="t" 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" pitch="25" throttle="1.0" vmode="throttle" wp="CLIMB"/>
    </block>
    <block key="<Control>a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
      <oval p1="1" p2="2" radius="nav_radius"/>
    </block>
    <block name="Path" strip_button="Path" strip_icon="path.png">
      <path approaching_time="0" wpts="1,2,3,4,5,6,7,8"/>
      <deroute block="Standby"/>
    </block>
  </blocks>
</flight_plan>

