//---------------------------------------------------
// Helm Behavior file 

initialize   DEPLOY        = false
initialize   GOGO        = false


//  Hierachical Mode Declarations:
//  ModeSet Hierarchy: 
//  ---------------------------------------------- 
//   Mode-Variable=MODE
//   ACTIVE
//       STATION-KEEPING
//       RETURNING
//       LOITERING
//       REFUELING
//   INACTIVE

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = RETURNING {
  MODE = ACTIVE                        
  GOGO = true
} 

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_return
  pwt       = 100
  updates   = RETURN_UPDATES
  condition = MODE==RETURNING
  //endflag   = AT_DEST = true     // changed
  //endflag   = RETURN = false
    perpetual=true
    speed = $(SPEED_ENT)
    point = $(END_POS)
    lead = 8
    radius = 3.0
    nm_radius = 15.0
}