//--------    FILE: jackal.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false

//----------------------------------------------
Behavior = BHV_Loiter
{ 
  name      = loiter
  pwt       = 100
  condition = RETURN = false
  condition = (DEPLOY = true)
  updates   = UP_LOITER

         speed = 1.5   // meters per second
     clockwise = best
        radius = 5
     nm_radius = 10
       polygon = pts={-200,-200:30,-60:350,-60:130,-330:-100,-320}, label=loiter 

  visual_hints = nextpt_color=yellow, nextpt_lcolor=aqua
  visual_hints = vertex_color=yellow, edge_color=gray40
  visual_hints = vertex_size=2, edge_size=1
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  perpetual  = true
  endflag    = RETURN = false
  endflag    = DEPLOY = false

         speed = 2.0
        radius = 2.0
     nm_radius = 8.0
        points = $(START_POS)
}


//----------------------------------------------
Behavior = BHV_ConstantDepth
{
  name      = bhv_const_depth_b
  pwt       = 60
  duration  = no-time-limit
  condition = DEPLOY = true

        depth = 5
    peakwidth = 3
    basewidth = 2
  summitdelta = 20
}