//------------------------------------------------
// File: bravo.bhv
// Name: M. Benjamin
// Date: Jan 1, 2010
//------------------------------------------------

initialize   DEPLOY = false
initialize   RETURN = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = SURVEYING {
  MODE = ACTIVE
  RETURN != true
} RETURNING

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = MODE == SURVEYING
  endflag   = RETURN = true
  perpetual = true

          lead = 8
   lead_damper = 1
         speed = 2.0   // meters per second
        radius = 4.0
     nm_radius = 10.0
        points = 60,-40:60,-160:150,-160:180,-100:150,-40
        repeat = 0
}

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

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

//* Constant Heading
Behavior=BHV_ConstantHeading
{
  name       = const_hdg
  pwt        = 100
  perpetual  = true  

	condition  = MODE==TURNING
  updates    = TURN_HEADING
  endflag    = CONDITIONS_SET = false
  endflag    = TURN_FINISH = true
	endflag    = TURN  = finish
  endflag    = TURNING = false
	
          heading = 190
         duration = no-time-limit
  complete_thresh = 4
  heading_mismatch_var = DBG_CH
}