//*******************************************************
// Vehicle behavior configuration file

initialize   DEPLOY = false
initialize   LOITERING = true
initialize   RETURN = false
initialize   STATION_KEEP = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
  LOITERING = false
}

set MODE = SPIRALING {
  MODE = ACTIVE
  LOITERING = true
  STATION_KEEP = false
} 

set MODE = RETURNING {
  MODE = ACTIVE
  RETURN = true
} TRAVERSING
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey
  pwt       = 100
  condition = MODE==TRAVERSING
  endflag   = RETURN = true

  updates   = WPT_UPDATE
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
              speed = $(SPEED)  // meters per second
	      
        capture_line = true
      capture_radius = 2
         slip_radius = 10
	efficiency_measure = all

	// Bigger home plate
  // polygon = pts={-17,-26:52,1:69,-40:41,-67:1,-68} 


	// Smaller home plate zones
#ifdef ZONE east
         polygon = pts={38,-37:64,-32:77,-16:59,11:23,-3}
#elseifdef ZONE west
         polygon = pts={-18,-30:-9,-57:16,-55:30,-42:12,-14}
#else
         polygon = pts={-2,-21:44,-2:56,-29:37,-48:10,-49}
           order = reverse
#endif
	
          repeat = 3

    visual_hints = nextpt_color=yellow
    visual_hints = nextpt_vertex_size=8
    visual_hints = nextpt_lcolor=gray70
    visual_hints = vertex_color=dodger_blue, edge_color=white
    visual_hints = vertex_size=5, edge_size=1
}

#include bhvs/bhv_plugs/plug_return.bhv
#include bhvs/bhv_plugs/plug_station_keep.bhv