95 lines
2.2 KiB
Plaintext
95 lines
2.2 KiB
Plaintext
//-------- FILE: alpha.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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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 = 12 // 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 = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
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order = normal
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//repeat = 100000
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repeat = 3
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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_Waypoint
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{
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name = waypt_return
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pwt = 100
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condition = RETURN = true
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condition = DEPLOY = true
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condition = ((DEPLoy = true) or (alpha = one)) or (bravo = two)
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perpetual = true
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updates = RETURN_UPDATE
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endflag = RETURN = false
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endflag = DEPLOY = false
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endflag = MISSION = complete
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speed = 2.0
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capture_radius = 2.0
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slip_radius = 8.0
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points = 0,-20
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}
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//----------------------------------------------
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Behavior=BHV_ConstantSpeed
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{
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name = const_speed
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pwt = 200
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condition = SPD=true
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condition = DEPLOY = true
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perpetual = true
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updates = SPEED_UPDATE
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endflag = SPD = false
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speed = 0.5
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duration = 10
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duration_reset = CONST_SPD_RESET=true
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}
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