<tag><var_init> initialize PATROL = true initialize TRAILING_ALLOWED = false initialize TRAIL = false <tag><modes> set MODE = PATROLLING { MODE = ACTIVE PATROL = true TRAIL != true } set MODE = TRAILING { MODE = ACTIVE TRAILING_ALLOWED = true TRAIL = true } <tag><bhvs> //---------------------------------------------- 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_Trail { name = trail_contact pwt = 100 condition = MODE == TRAILING updates = TRAIL_INFO // templating = spawn contact = abe pwt_outer_dist = 130 nm_radius = 18 radius = 8 trail_angle = 155 trail_range = 45 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 }