H01 Loiter Behavior

Configures the stock eight-point radial polygon centered at (12,-121) with clockwise=true; passes when the vehicle reaches stable loiter with a nonnegative index, acquisition off, distance to the polygon at most 10 meters, and no BHV_ERROR.

Uses the same radial polygon with clockwise=false, which selects vertex 3 and then advances to vertex 4 from this fixed western approach; passes only after that ordered index sequence occurs before the missing-index deadline.

Replaces the stock octagon with the rectangle {-6,-139:-6,-103:30,-103:30,-139}; live behavior macros must report four points, center (12,-121), and radius 25.45–25.46, so falling back to the stock polygon fails.

Replaces the stock octagon with the triangle {0,-139:34,-121:0,-103}; live behavior macros must report three points, center (17,-121), and radius 24.75–24.76, so falling back to the stock polygon fails.

Centers the radius-18 polygon on the vehicle's initial position (-45,-121); passes only after the ordered mode transition from acquiring_internal with distance below -10 to stable within 10 meters of the polygon edge.

Places a radius-16 polygon at (6,-121), 51 meters east of the starting position; passes only after LOITER_MODE changes from acquiring_external with LOITER_ACQUIRE=1 and distance above 10 to stable with acquisition off and distance at most 10.

Uses the far polygon and samples the approach after six seconds; passes when the behavior reports LOITER_MODE=acquiring_external, LOITER_ACQUIRE=1, a nonnegative index, distance above 10, and no behavior error.

Holds the behavior idle for five seconds with center_activate=true, then deploys from (-45,-121); live center macros must change from the configured (12,-121) to the activation position (-45,-121) before the deadline.

Sets capture_radius=0.5 and slip_radius=12, forcing the vehicle to pass a vertex outside the capture radius before the nonmonotonic rule accepts it; passes only when LOITER_REPORT reaches nonmono_hits=1.

Starts with desired speed 0.9, configures speed_alt=2.2, and posts use_alt_speed=true; passes only after DESIRED_SPEED is observed first in 0.85–0.95 and then in 2.15–2.25.

Configures speed=0.8, speed_alt=2.8, and use_alt_speed=true; passes when the behavior publishes DESIRED_SPEED in 2.75–2.85 before the missing-speed deadline.

Posts center_assign=x=18,y=-121, exercising keyed runtime-center syntax; passes when live center macros report exactly (18,-121).

Starts at center (2,-121) and posts center_assign=32,-121, exercising unkeyed pair syntax and a 30-meter shift; passes when live center macros report exactly (32,-121).

Posts xcenter_assign=18 and ycenter_assign=-121 separately; passes when the combined live center becomes exactly (18,-121).

Posts mod_poly_rad=6 against the snapped stock radius 18.385; passes when the live radius becomes 24.38–24.39.

Posts mod_poly_rad=-5 against the snapped stock radius 18.385; passes when the live radius becomes 13.38–13.39.

Sets slingshot=5, testing bearing-based completion after the vehicle accumulates the configured angular travel; passes at 35 seconds when LOITER_DONE=true, LOITER_BNG_TOTAL>=5, mode is stable, acquisition is off, and no behavior error occurred.

Sets post_suffix=custom; passes when the suffixed report, index, mode, acquire, distance, and ETA variables drive stable-loiter evaluation and no corresponding unsuffixed publication is observed.

Uses the stock loiter to test ETA publication; passes at 25 seconds when the stable-loiter conditions hold and LOITER_ETA_TO_POLY>=0, while LOITER_REPORT is recorded but not graded.

Sets speed=0.25 and samples the approach after ten seconds; passes when the behavior reports LOITER_MODE=acquiring_external, LOITER_ACQUIRE=1, a nonnegative index, distance above 10, and no behavior error.

Omits the polygon while marking each behavior run; after a ten-second absence window, the expected-negative case passes when the helm remains in DRIVE, the run marker was seen, LOITER_INDEX remains -1, and no desired-speed or behavior-error mail was observed.

Supplies the self-intersecting sequence {0,-121:20,-101:0,-101:20,-121}; the expected-negative case passes only when the bridged helm state equals MALCONFIG before its deadline.

Posts that self-intersecting polygon through LOITER_UPDATES; passes when IVPHELM_UPDATE_RESULT identifies bhv=loiter, var=LOITER_UPDATES, and result=param_error, a warning is emitted, and the live polygon remains the stock eight-point center/radius geometry.

Sets clockwise=sideways; the expected-negative case passes only when the bridged helm state equals MALCONFIG before its deadline.

Sets use_alt_speed=maybe; the expected-negative case passes only when the bridged helm state equals MALCONFIG before its deadline.

Sets patience=100, one above the accepted 1–99 range; the expected-negative case passes only when the bridged helm state equals MALCONFIG before its deadline.

Sets capture_radius=-1; the expected-negative case passes only when the bridged helm state equals MALCONFIG before its deadline.

Sets the valid low-range value patience=15; passes when the behavior accepts the configuration and reaches stable loiter with a nonnegative index, acquisition off, distance at most 10, and no behavior error.

Sets the valid high-range value patience=90; passes when the behavior accepts the configuration and reaches stable loiter with a nonnegative index, acquisition off, distance at most 10, and no behavior error.