//-------- FILE: juliet.bhv ------------- initialize DEPLOY = false initialize RETURN = false initialize GOTO_DEPTH = false //======================================================== // Hierarchical Mode Declarations // o ROOT o ROOT // |--o INACTIVE |--o GOTO_DEPTH // |--o ACTIVE |--o NOT GOTO_TDEPTH // |--o RETURNING // |--o LOITERING //======================================================== Set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = RETURNING { MODE = ACTIVE RETURN = true } LOITERING //---------------------------------------------- Behavior = BHV_Loiter { name = loiter pwt = 100 condition = MODE == LOITERING updates = UP_LOITER speed = 1.3 clockwise = best radius = 4.0 nm_radius = 15.0 polygon = radial:: x=20, y=-80, radius=20, pts=8, snap=1, label=juliet_loiter visual_hints = nextpt_color=red, nextpt_lcolor=khaki, edge_color=khaki visual_hints = edge_size=1, vertex_size=4, vertex_color=white } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_return pwt = 100 condition = MODE == RETURNING updates = UPDATES_RETURN perpetual = true endflag = RETURNING = false endflag = DEPLOY = false speed = 2.0 radius = 2.0 nm_radius = 8.0 point = 0,0 } //---------------------------------------------- Behavior = BHV_GoToDepth { name = bhv_go_to_depth pwt = 1000 condition = MODE == LOITERING condition = GOTO_DEPTH = true endflag = GOTO_DEPTH = false depth = 40,60:30,45:20,45 repeat = 2 perpetual = true capture_flag = DEPTH_ACHIEVED capture_delta = 0.5 } //---------------------------------------------- Behavior = BHV_ConstantDepth { name = bhv_const_depth pwt = 100 duration = no-time-limit condition = MODE==LOITERING condition = GOTO_DEPTH != true updates = DEPTH_VALUE depth = 50 peakwidth = 8 basewidth = 12 summitdelta = 10 }