morse-sim/meta_gilda.bhv at master · moos-tutorials/morse-sim · GitHub

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initialize LOITER = true

//-----------------------------------------------
// Helm Behavior File

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = LOITERING {
  MODE = ACTIVE
  LOITER = true
}

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = bhv_loiter
  pwt       = 100
  condition = MODE==LOITERING

         speed = 2.5
     clockwise = true
        radius = 8
     nm_radius = 20
  acquire_dist = 12
       polygon = label,A : 40,-270:60,-290:100,-290:120,-270:120,-180:100,-160:60,-160:40,-180
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = bhv_waypoint
  pwt       = 100
  condition = MODE==RETURNING

     speed  = 2.5
     points = $(START_POS)
}