//--------    FILE: alpha.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
initialize   HSLINE = off

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = ((DEPLOY = true) or (alpha = one)) or (bravo = two)
  endflag   = RETURN = true
  perpetual = true
  updates   = NEWPTS

          lead = 8
   lead_damper = 1
         speed = 2   // meters per second
        radius = 5.0
   slip_radius = 15.0
        //points = 60,-40:60,-160:150,-160:180,-100:150,-40
        //points = 60,-40 : 60,-160 : 150,-160 : 120,-100 : 150,-40
        //points = 60,-40 : 60,-160 : 150,-160 : 120,-100 : 190,0

	points = -200,-130:-90,-420:-57,-402:-170,-120:-129,-104:-22,-388:20,-370:-84,-85:-42,-69:59,-354:100,-339:-2,-53:39,-34:140,-322:175,-311:80,-23:121,-7:216,-290:256,-275:167,3:203,14:296,-260:330,-244:244,6


        repeat = 1
  visual_hints = nextpt_color=red, nextpt_lcolor=green
  visual_hints = vertex_color=yellow, edge_color=gray45
  //visual_hints = vertex_color=yellow, line_color=white
  visual_hints = vertex_size=2, edge_size=1
}

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

         speed = 2.0
        radius = 2.0
     nm_radius = 8.0
        points = 0,0
}

//----------------------------------------------
//Behavior = BHV_AvoidObstacles
{
  name      = avoid_obs

  priority        = 200
  polygon         = format=radial, label=obs, x=60, y=-115, radius=5, pts=12
  //polygon         = format=ellipse, label=obs, x=60, y=-130, minor=7, major=22, pts=18, degs=45, snap=0.01
  allowable_ttc   = 20
  activation_dist = 20   
  buffer_dist     = 10
  pheading_influence = 100

}


//----------------------------------------------
Behavior = BHV_HSLine
{
  name      = hsline
  condition = HSLINE=on

  time_on_leg = 10
}