//-------- FILE: $(VNAME).bhv ------------- initialize DEPLOY = false initialize RETURN = false initialize SURVEY = false initialize AVOID = true initialize SURVEY = true initialize STATION_KEEP = false set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = STATION-KEEPING { MODE = ACTIVE STATION_KEEP = true } set MODE = SURVEYING { MODE = ACTIVE RETURN != true SURVEY = true } set MODE = RETURNING { MODE = ACTIVE RETURN = true } #ifdef VROLE scout //---------------------------------------------- Behavior = BHV_Scout { name = scout pwt = 100 updates = SCOUT_UPDATE condition = MODE==SURVEYING perpetual = true endflag = RETURN = true tmate = $(TMATE) capture_radius = 10 } #endif //---------------------------------------------- #ifdef VROLE rescue Behavior = BHV_Waypoint #else //Behavior = BHV_Waypoint #endif { name = waypt_survey pwt = 100 updates = SURVEY_UPDATE condition = MODE==SURVEYING perpetual = true endflag = RETURN = true repeat = 0 speed = 1.2 capture_radius = 3.0 capture_line = true slip_radius = 8.0 points = 41,-25:64,-41:28,-60:50,-92:5,-100 crs_spd_zaic_ratio = 85 visual_hints = vertex_size = 4 // default visual_hints = vertex_color = dodger_blue // default visual_hints = edge_size = 1 visual_hints = edge_color = $(COLOR) } //---------------------------------------------- Behavior = BHV_StationKeep { name = station-keep pwt = 100 condition = MODE==STATION-KEEPING center_activate = true inner_radius = 5 outer_radius = 10 outer_speed = 1.0 transit_speed = 1.3 swing_time = 7 visual_hints = vertex_size=0, edge_color=gray50 } //---------------------------------------------- Behavior = BHV_AvdColregsV22 { name = avdcol_ pwt = 350 condition = AVOID = true condition = MODE==ACTIVE condition = MODE!=ACTIVE:STATION-KEEPING updates = CONTACT_INFO endflag = CONTACT_RESOLVED = $[CONTACT] templating = spawn contact = to-be-set on_no_contact_ok = true extrapolate = true decay = 30,60 headon_only = true //velocity_filter = min_spd=0.2, max_spd=1.0, pct=40 use_refinery = true // eval_tol = 30 pwt_outer_dist = 25 pwt_inner_dist = 10 completed_dist = 30 min_util_cpa_dist = 6 max_util_cpa_dist = 14 pwt_grade = linear // bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0 } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_return pwt = 100 updates = RETURN_UPDATE condition = MODE==RETURNING perpetual = true endflag = RETURN = false endflag = STATION_KEEP=true speed = 1.0 capture_radius = 4.0 slip_radius = 12.0 #ifdef VNAME abe point = 52,9 #elseifdef VNAME ben point = 39,4 #elseifdef VNAME cal point = 29,0 #elseifdef VNAME deb point = 16,-6 #elseifdef VNAME eve point = 4,-11 #elseifdef VNAME fin point = 2,-15 #elseifdef VNAME max point = 26,-2 #elseifdef VNAME ned point = 12,-8 #elseifdef VNAME oak point = 14,-10 #else point = $(START_POS) #endif visual_hints = vertex_size = 4 // default visual_hints = vertex_color = dodger_blue // default } //---------------------------------------------- Behavior = BHV_OpRegionRecover { name = recover pwt = 300 updates = RECOVER_UPDATES activeflag = RECOVER = true inactiveflag = RECOVER = false // pav60 explicitly: // polygon = pts={60,10:-30.36,-32.837:-4.658,-87.053:85.702,-44.216} // pav90 explicitly // polygon = pts={60,10:-75.54,-54.256:-36.987,-135.58:98.554,-71.324} // Prefer to get the rescue region from uFldRescuMgr dynamic_region_var = RESCUE_REGION buffer_dist = 5 trigger_entry_time = 1 trigger_exit_time = 1 visual_hints = edge_size = 2 visual_hints = edge_color = gray30 }