74 lines
2.1 KiB
Plaintext
74 lines
2.1 KiB
Plaintext
//-------- FILE: gly_1.bhv -------------
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initialize DEPLOY = false
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initialize RETURN = false
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//----------------------------------------------
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Behavior = BHV_Waypoint
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{
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name = waypt_survey
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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//endflag = RETURN = true
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endflag = MISSION = complete
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configflag = CRUISE_SPD = $[SPEED]
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//configflag = OSPOS = $[OSX],$[OSY]
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activeflag = INFO=$[OWNSHIP]
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activeflag = INFO=$[BHVNAME]
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activeflag = INFO=$[BHVTYPE]
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cycleflag = CINFO=$[OSX],$[OSY]
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wptflag = PREV=$(PX),$(PY)
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wptflag = NEXT=$(NX),$(NY)
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wptflag = TEST=$(X),$(Y)
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wptflag = OSPOS=$(OSX),$(OSY)
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wptflag_on_start = true
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updates = WPT_UPDATE
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// perpetual = true
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speed_alt = 1.2
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use_alt_speed = true
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lead = 8
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lead_damper = 1
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lead_to_start = true
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speed = 2 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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efficiency_measure = all
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// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
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// polygon = -50,-100: -50,-300: 25, -300: 25, -100: 100, -100: 100, -300: 175, -300: 175, -100
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polygon = -50,-100: 0,-300: 50, -287.5: 0, -87.5: 50, -75: 100, -275: 150, -262.5: 100, -62.5
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// polygon = -50,-100: -50,-170.71: 0,-220.71: 70.71,-220.71: 120.71,-170.71: 120.71,-100: 70.71,-50: 0,-50: -50,-100
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// polygon = -50,-100: -50,-300
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order = normal
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repeat = 0
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visual_hints = nextpt_color=yellow
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visual_hints = nextpt_vertex_size=8
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visual_hints = nextpt_lcolor=gray70
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visual_hints = vertex_color=dodger_blue, edge_color=white
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visual_hints = vertex_size=5, edge_size=1
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}
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//----------------------------------------------
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Behavior = BHV_ConstantDepth
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{
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name = bhv_const_depth
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pwt = 100
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condition = DEPLOY = true
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perpetual = true
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updates = DEPTH_VALUE
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depth = 2
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duration = no-time-limit
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peakwidth = 8
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basewidth = 12
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summitdelta = 10
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} |