initialize DEPLOY    = false
initialize RETURN    = false
initialize STATION   = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
}

set MODE = RETURN-HOME {
  MODE = ACTIVE
  RETURN = true
} 

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name      = station_keep
  condition = MODE==STATION-KEEPING 

  center_activate = true
     inner_radius = 4
     outer_radius = 15
      outer_speed = 5
    transit_speed = 5
	     swing_time = 4
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_return_base
  condition = MODE == RETURN-HOME
  endflag   = STATION_KEEP = true
  perpetual = true

        speed = 2
       radius = 3.0
  slip_radius = 15.0
        point = 55,50
}

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter_defend
  condition = MODE==LOITERING
  updates   = LOITER_UPDATES

         speed = 1.4
       polygon = format=ellipse, x=25, y=-37, degs=115, major=50, minor=10, pts=16
     clockwise = true
  acquire_dist = 5
}