//--------------------------------------------------- // Helm Behavior file initialize DEPLOY = false initialize RETURN = false initialize STATION_KEEP = false initialize LOITER = true initialize AVOID = true set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = STATION-KEEPING { MODE = ACTIVE STATION_KEEP = true } set MODE = RETURNING { MODE = ACTIVE RETURN = true } set MODE = LOITERING { MODE = ACTIVE LOITER = true } //---------------------------------------------- Behavior = BHV_PModelView { name = pmview pwt = 100 condition = (MODE==LOITERING) or (MODE==RETURNING) updates = UP_PMVIEW } //---------------------------------------------- Behavior = BHV_Loiter { name = loiter pwt = 100 condition = MODE==LOITERING updates = UP_LOITER runflag = VEHICLE_UNDERWAY = TRUE endflag = VEHICLE_UNDERWAY = FALSE post_suffix = A speed = 1.4 clockwise = false radius = 8.0 nm_radius = 15.0 polygon = radial:: $(LOITER_POS), radius=15, pts=8, snap=1, label=$(VNAME)_LOITER visual_hints = nextpt_color=white, nextpt_lcolor=khaki visual_hints = edge_color=orange, vertex_color=white visual_hints = edge_size=1, vertex_size=2 } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_return pwt = 100 updates = RETURN_UPDATES condition = MODE==RETURNING endflag = STATION_KEEP = true endflag = AVOID = false spawnx_flag = RETURN_UPDATES=point=$[OSX],$[OSY] speed = 1.3 radius = 3.0 nm_radius = 15.0 point = 0,0 repeat = 0 lead = 8 } //---------------------------------------------- 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 } #ifdef COLAVD colregs #include plug_avdcol_colregs.bhv #else #include plug_avdcol_cpa.bhv #endif //---------------------------------------------- Behavior=BHV_AvoidObstacleV24 { name = avd_ob_ pwt = 500 condition = DEPLOY = true templating = spawn updates = OBSTACLE_ALERT use_refinery = true allowable_ttc = 5 min_util_cpa_dist = 3 max_util_cpa_dist = 7 pwt_outer_dist = 15 pwt_inner_dist = 5 completed_dist = 15 }