1# example mission box5.flo 2# refactored box mission with load 3# uses exit context to increment counter 4 5house box5 6 7init max.depth with 50.0 8 9init boxer.heading with 0.0 10init boxer.turn with 90.0 11init boxer.leg with 0.0 12init boxer.nlegs with 4.0 13 14framer vehiclesim be active first vehicle_run 15 16frame vehicle_run 17 do simulator motion uuv 18 19framer mission be active first leg 20 21frame depthmax 22 go abort if state.depth >= .max.depth 23 24frame leg in depthmax 25 set elapsed with 20.0 26 set goal.heading from boxer.heading 27 set goal.depth with 5.0 28 set goal.speed with 2.5 29 go gpsfix if elapsed >= goal 30 go mission_stop if .boxer.leg >= .boxer.nlegs 31 32frame gpsfix 33 aux gps 34 go leg if gps is done 35 exit 36 inc boxer.heading from boxer.turn 37 inc boxer.leg with 1.0 38 39frame abort 40 set goal.depth with 0.0 41 set goal.speed with 2.5 42 go mission_stop if state.depth == 0.0 +- 0.25 43 44frame mission_stop 45 bid stop all 46 47framer autopilot be active first autopilot_run 48 49frame autopilot_run 50 do controller pid speed 51 do controller pid heading 52 do controller pid depth 53 do controller pid pitch 54 55logger logger to /tmp/log/ioflo/ # /tmp deleted on reboot but /var/tmp not 56 log state on update 57 loggee state.position state.heading state.depth state.speed 58 59 log goal on update 60 loggee goal.heading goal.depth goal.speed 61 62load gps.flo 63