#example mission box1.flo
#from: https://github.com/ioflo/ioflo

house box1

   framer vehiclesim be active first vehicle_run
      frame vehicle_run
         do simulator motion uuv

   framer mission be active first northleg
      frame northleg
         set elapsed with 20.0
         set heading with 0.0
         set depth with 5.0
         set speed with 2.5
         go next if elapsed >= goal

      frame eastleg
         set heading with 90.0
         go next if elapsed >= goal

      frame southleg
         set heading with 180.0
         go next if elapsed >= goal

      frame westleg
         set heading with 270.0
         go next if elapsed >= goal

      frame mission_stop
         bid stop vehiclesim
         bid stop autopilot
         bid stop me

   framer autopilot be active first autopilot_run
      frame autopilot_run
         do controller pid speed
         do controller pid heading
         do controller pid depth
         do controller pid pitch