<flight_plan NAME="demo 1" LON0="10.5481887029753594" MAX_DIST_FROM_HOME="500" GROUND_ALT="0" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="52.3163232526151631">


  <waypoints>
    <waypoint Y="0.0" NAME="HOME" X="0.0" ALT="0."/>
    <waypoint name="road_start" x="-337" y="17" alt="60."/>
    <waypoint name="road_end" x="238" y="-30" alt="40."/>
  </waypoints>
  <blocks>
    <block name="Takeoff">
      <exception cond="estimator_z > ground_alt+25" deroute="survey road 1"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="estimator_flight_time"/>
      <set value="1" var="launch" />
      <go from="HOME" throttle="1.0" vmode="throttle" wp="road_start" pitch="15"/>
    </block>
    <block name="survey road 1">
      <go from="HOME" wp="road_start"/>
      <go wp="road_end"/>
    </block>
    <block NAME="survey road 2">
      <while cond="TRUE">
        <go wp="road_start" from="road_end" hmode="route"/>
        <go wp="road_end" from="road_start" hmode="route"/>
      </while>
    </block>
    <block name="circle">
      <circle wp="road_end" ALT="ground_alt+50" radius="75"/>
    </block>
  </blocks>
</flight_plan>
