1#example mission box1.flo
2#from: https://github.com/ioflo/ioflo
3
4house box1
5
6   framer vehiclesim be active first vehicle_run
7      frame vehicle_run
8         do simulator motion uuv
9
10   framer mission be active first northleg
11      frame northleg
12         set elapsed with 20.0
13         set heading with 0.0
14         set depth with 5.0
15         set speed with 2.5
16         go next if elapsed >= goal
17
18      frame eastleg
19         set heading with 90.0
20         go next if elapsed >= goal
21
22      frame southleg
23         set heading with 180.0
24         go next if elapsed >= goal
25
26      frame westleg
27         set heading with 270.0
28         go next if elapsed >= goal
29
30      frame mission_stop
31         bid stop vehiclesim
32         bid stop autopilot
33         bid stop me
34
35   framer autopilot be active first autopilot_run
36      frame autopilot_run
37         do controller pid speed
38         do controller pid heading
39         do controller pid depth
40         do controller pid pitch