initialize PATROL = true initialize TRAILING_ALLOWED = false initialize TRAIL = false //----------------------------------------------- // Helm Behavior File set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = STATION-KEEPING { MODE = ACTIVE STATION_KEEP = true } set MODE = RETURNING { MODE = ACTIVE RETURN = true } set MODE = PATROLLING { MODE = ACTIVE PATROL = true TRAIL != true } set MODE = TRAILING { MODE = ACTIVE PATROL = true TRAILING_ALLOWED = true TRAIL = true } //---------------------------------------------- Behavior = BHV_Loiter { name = loiter pwt = 100 condition = MODE == PATROLLING updates = UP_LOITER speed = 1.3 clockwise = false radius = 8.0 nm_radius = 15.0 polygon = radial:: x=110, y=-50, radius=20, pts=8, snap=1, label=HENRY_LOITER visual_hints = nextpt_color=white, nextpt_lcolor=khaki visual_hints = edge_color=blue, vertex_color=blue 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 speed = 1.3 radius = 3.0 nm_radius = 15.0 points = $(START_POS) repeat = 10 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 hibernation_radius = 25 visual_hints = vertex_size=0, edge_color=blue } //---------------------------------------------- Behavior = BHV_AvoidCollision { name = avd_collision pwt = 400 condition = MODE == ACTIVE condition = MODE != STATION-KEEPING updates = CONTACT_INFO endflag = CONTACT_RESOLVED = $[CONTACT],avd templating = spawn contact = to-be-set pwt_outer_dist = 50 pwt_inner_dist = 20 completed_dist = 145 min_util_cpa_dist = 8 max_util_cpa_dist = 25 active_grade = linear on_no_contact_ok = true extrapolate = true decay = 30,60 bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0 } //---------------------------------------------- Behavior = BHV_Trail { name = trail_contact pwt = 100 condition = (MODE == TRAILING) or (MODE == PATROLLING) condition = TRAILING_ALLOWED = true runflag = TRAIL = true idleflag = TRAIL = false updates = TRAIL_INFO templating = spawn contact = to-be-set pwt_outer_dist = 130 nm_radius = 18 radius = 8 trail_angle = 155 trail_range = 35 trail_angle_type = relative on_no_contact_ok = true extrapolate = true decay = 30,60 bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0 }