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missions/s1_alpha/alpha.bhv

@@ -0,0 +1,93 @@
+//--------    FILE: alpha.bhv   -------------
+
+initialize   DEPLOY = false
+initialize   RETURN = false
+	
+//----------------------------------------------
+Behavior = BHV_Waypoint
+{ 
+  name      = waypt_survey
+  pwt       = 100
+  condition = RETURN = false
+  condition = DEPLOY = true
+  endflag   = RETURN = true
+
+	configflag = CRUISE_SPD = $[SPEED]
+	//configflag = OSPOS = $[OSX],$[OSY]
+
+	activeflag = INFO=$[OWNSHIP]
+	activeflag = INFO=$[BHVNAME]
+	activeflag = INFO=$[BHVTYPE]
+
+	cycleflag = CINFO=$[OSX],$[OSY]
+
+	wptflag = PREV=$(PX),$(PY)
+	wptflag = NEXT=$(NX),$(NY)
+	wptflag = TEST=$(X),$(Y)
+	wptflag = OSPOS=$(OSX),$(OSY)
+	wptflag_on_start = true
+
+  updates    = WPT_UPDATE
+  perpetual  = true
+
+	    speed_alt = 1.2
+  use_alt_speed = true
+                lead = 8
+         lead_damper = 1
+       lead_to_start = true
+               speed = 12   // meters per second
+        capture_line = true
+      capture_radius = 5.0
+         slip_radius = 15.0
+	efficiency_measure = all
+
+  //           points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
+	           polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
+
+               order = normal
+             //repeat  = 100000
+             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
+}
+
+//----------------------------------------------
+Behavior=BHV_Waypoint
+{
+  name       = waypt_return
+  pwt        = 100
+  condition  = RETURN = true
+  condition  = DEPLOY = true
+  perpetual  = true
+  updates    = RETURN_UPDATE
+  endflag    = RETURN = false
+  endflag    = DEPLOY = false
+  endflag    = MISSION = complete
+	
+           speed = 2.0
+  capture_radius = 2.0
+     slip_radius = 8.0
+          points = 0,-20
+ }
+
+//----------------------------------------------
+Behavior=BHV_ConstantSpeed
+{
+  name       = const_speed
+  pwt        = 200
+  condition  = SPD=true
+  condition  = DEPLOY = true
+  perpetual  = true
+  updates    = SPEED_UPDATE
+  endflag    = SPD = false
+
+     speed = 0.5
+		 duration = 10
+		 duration_reset = CONST_SPD_RESET=true
+	
+}
+