/*
 * Copyright (c) 2024 Felix Ingrand, CNRS/LAAS
 *
 * Permission to use, copy, modify, and distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

/*
 * This Behavior Tree FIACRE model has been automatically generated by bt2f 1.0b0.
 * DO NOT EDIT.
 */

/*
 * This Behavior Tree FIACRE model is for the HIPPO engine.
 */


type ret_status is union // regular returned status
	  success
	| failure
	| running
	| halt_me
	| no_ret_status
end

type node_status is union // regular node status
	  ns_idle
	| ns_ticked
	| ns_tick_passed
	| ns_success
	| ns_failure
	| ns_halt
	| ns_halted
	| ns_running
end

type btnode_caller is union
	  None
	| caller_ParallelAll5_btn2
	| caller_fail_btn8
	| caller_Fallback13_btn6
	| caller_fail_btn12
	| caller_Fallback21_btn10
	| caller_Sequence37_btn18
	| caller_Parallel33_btn16
	| caller_Sequence29_btn14
	| caller_ReactiveSequence11_btn5
	| caller_Sequence3_btn1
	| caller_BehaviorTree1_drone
end

type btnode_record is record // record to hold the shared information on a btnode
	caller : btnode_caller, // who called it
	ArgIndex : nat, // its functional level arguments in
	rstatus : ret_status // its last returned status
end

const start_drone_btn3: 0..0 is 0
const start_camera_btn4: 1..1 is 1
const ParallelAll5_btn2: 2..2 is 2
const battery_ok_btn7: 3..3 is 3
const land_btn9: 4..4 is 4
const fail_btn8: 5..5 is 5
const Fallback13_btn6: 6..6 is 6
const localization_ok_btn11: 7..7 is 7
const land_btn13: 8..8 is 8
const fail_btn12: 9..9 is 9
const Fallback21_btn10: 10..10 is 10
const takeoff_btn15: 11..11 is 11
const camera_tracking_btn17: 12..12 is 12
const goto_waypoint_btn19: 13..13 is 13
const goto_waypoint_btn20: 14..14 is 14
const goto_waypoint_btn21: 15..15 is 15
const goto_waypoint_btn22: 16..16 is 16
const goto_waypoint_btn23: 17..17 is 17
const goto_waypoint_btn24: 18..18 is 18
const Sequence37_btn18: 19..19 is 19
const Parallel33_btn16: 20..20 is 20
const goto_waypoint_btn25: 21..21 is 21
const land_btn26: 22..22 is 22
const shutdown_drone_btn27: 23..23 is 23
const Sequence29_btn14: 24..24 is 24
const ReactiveSequence11_btn5: 25..25 is 25
const Sequence3_btn1: 26..26 is 26
const BehaviorTree1_drone: 27..27 is 27

type btnode_array is array 28 of btnode_record


// Global extern functions
extern fiacre_c_print_trace(nat) : nat is
	        print_trace_c
extern fiacre_c_print_user_print(nat) : nat is
	        print_user_print_c
extern fiacre_graphic_trace(nat,node_status) : nat is
	        graphic_trace_c


/* state variable integer types*/

/* state variable FSM types*/

/* Process automata controlling the proper transition of resources/SV */

// Hippo tasks for all basic btnodes.
task Fiacre_Action_start_drone_task (btnode_record) : ret_status is
		Fiacre_Action_start_drone_c
extern Fiacre_Action_start_drone_halt (btnode_record) : bool is
		Fiacre_Action_start_drone_halt_c
task Fiacre_Action_start_camera_task (btnode_record) : ret_status is
		Fiacre_Action_start_camera_c
extern Fiacre_Action_start_camera_halt (btnode_record) : bool is
		Fiacre_Action_start_camera_halt_c
extern  Fiacre_Condition_battery_ok_ext (btnode_record) : ret_status is
		Fiacre_Condition_battery_ok_c
task Fiacre_Action_land_task (btnode_record) : ret_status is
		Fiacre_Action_land_c
extern Fiacre_Action_land_halt (btnode_record) : bool is
		Fiacre_Action_land_halt_c
extern  Fiacre_Condition_localization_ok_ext (btnode_record) : ret_status is
		Fiacre_Condition_localization_ok_c
task Fiacre_Action_takeoff_task (btnode_record) : ret_status is
		Fiacre_Action_takeoff_c
extern Fiacre_Action_takeoff_halt (btnode_record) : bool is
		Fiacre_Action_takeoff_halt_c
task Fiacre_Action_camera_tracking_task (btnode_record) : ret_status is
		Fiacre_Action_camera_tracking_c
extern Fiacre_Action_camera_tracking_halt (btnode_record) : bool is
		Fiacre_Action_camera_tracking_halt_c
task Fiacre_Action_goto_waypoint_task (btnode_record) : ret_status is
		Fiacre_Action_goto_waypoint_c
extern Fiacre_Action_goto_waypoint_halt (btnode_record) : bool is
		Fiacre_Action_goto_waypoint_halt_c
task Fiacre_Action_shutdown_drone_task (btnode_record) : ret_status is
		Fiacre_Action_shutdown_drone_c
extern Fiacre_Action_shutdown_drone_halt (btnode_record) : bool is
		Fiacre_Action_shutdown_drone_halt_c

process btnode_start_drone_btn3 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_start_drone, dispatch, Action_start_drone_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[start_drone_btn3].caller <> None);
		report_halted := false;
		if (btnode[start_drone_btn3].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 0, trace level: 3
		// Btnode Action 'start_drone_btn3' has been called 
		ignorep := fiacre_c_print_trace(0);
		btnode[start_drone_btn3].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 1, trace level: 3
		// Btnode Action 'start_drone_btn3' is being halted 
		ignorep := fiacre_c_print_trace(1);
		ignorep := fiacre_graphic_trace(5,ns_halt);
		ignoreb := Fiacre_Action_start_drone_halt (btnode[start_drone_btn3]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(5,ns_ticked);
		to Action_start_drone

	from Action_start_drone
		// Trace index: 2, trace level: 3
		// Btnode Action 'start_drone_btn3' calling its action (start task)
		ignorep := fiacre_c_print_trace(2);
		start Fiacre_Action_start_drone_task (btnode[start_drone_btn3]);
	to Action_start_drone_sync

	from Action_start_drone_sync
		sync Fiacre_Action_start_drone_task ret_val;
		// Trace index: 3, trace level: 3
		// Btnode Action 'start_drone_btn3' returned (sync task)
		ignorep := fiacre_c_print_trace(3);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 4, trace level: 2
		// Btnode Action 'start_drone_btn3' returns success.
		ignorep := fiacre_c_print_trace(4);
		btnode[start_drone_btn3].rstatus := success;
		ignorep := fiacre_graphic_trace(5,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 5, trace level: 2
			// Btnode Action 'start_drone_btn3' returns halted failure.
			ignorep := fiacre_c_print_trace(5);
			ignorep := fiacre_graphic_trace(5,ns_halted);
			null
		else
			// Trace index: 6, trace level: 2
			// Btnode Action 'start_drone_btn3' returns failure.
			ignorep := fiacre_c_print_trace(6);
			ignorep := fiacre_graphic_trace(5,ns_failure);
			null
		end;
		btnode[start_drone_btn3].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 7, trace level: 2
		// Btnode Action 'start_drone_btn3' has been halted.
		ignorep := fiacre_c_print_trace(7);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 8, trace level: 3
		// Btnode Action 'start_drone_btn3' returns running.
		ignorep := fiacre_c_print_trace(8);
		ignorep := fiacre_graphic_trace(5,ns_running);
		btnode[start_drone_btn3].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 9, trace level: 3
		// Btnode Action 'start_drone_btn3' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(9);
		btnode[start_drone_btn3].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_start_camera_btn4 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_start_camera, dispatch, Action_start_camera_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[start_camera_btn4].caller <> None);
		report_halted := false;
		if (btnode[start_camera_btn4].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 10, trace level: 3
		// Btnode Action 'start_camera_btn4' has been called 
		ignorep := fiacre_c_print_trace(10);
		btnode[start_camera_btn4].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 11, trace level: 3
		// Btnode Action 'start_camera_btn4' is being halted 
		ignorep := fiacre_c_print_trace(11);
		ignorep := fiacre_graphic_trace(6,ns_halt);
		ignoreb := Fiacre_Action_start_camera_halt (btnode[start_camera_btn4]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(6,ns_ticked);
		to Action_start_camera

	from Action_start_camera
		// Trace index: 12, trace level: 3
		// Btnode Action 'start_camera_btn4' calling its action (start task)
		ignorep := fiacre_c_print_trace(12);
		start Fiacre_Action_start_camera_task (btnode[start_camera_btn4]);
	to Action_start_camera_sync

	from Action_start_camera_sync
		sync Fiacre_Action_start_camera_task ret_val;
		// Trace index: 13, trace level: 3
		// Btnode Action 'start_camera_btn4' returned (sync task)
		ignorep := fiacre_c_print_trace(13);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 14, trace level: 2
		// Btnode Action 'start_camera_btn4' returns success.
		ignorep := fiacre_c_print_trace(14);
		btnode[start_camera_btn4].rstatus := success;
		ignorep := fiacre_graphic_trace(6,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 15, trace level: 2
			// Btnode Action 'start_camera_btn4' returns halted failure.
			ignorep := fiacre_c_print_trace(15);
			ignorep := fiacre_graphic_trace(6,ns_halted);
			null
		else
			// Trace index: 16, trace level: 2
			// Btnode Action 'start_camera_btn4' returns failure.
			ignorep := fiacre_c_print_trace(16);
			ignorep := fiacre_graphic_trace(6,ns_failure);
			null
		end;
		btnode[start_camera_btn4].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 17, trace level: 2
		// Btnode Action 'start_camera_btn4' has been halted.
		ignorep := fiacre_c_print_trace(17);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 18, trace level: 3
		// Btnode Action 'start_camera_btn4' returns running.
		ignorep := fiacre_c_print_trace(18);
		ignorep := fiacre_graphic_trace(6,ns_running);
		btnode[start_camera_btn4].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 19, trace level: 3
		// Btnode Action 'start_camera_btn4' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(19);
		btnode[start_camera_btn4].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_ParallelAll5_btn2 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait,
		running, ParallelAll5_btn2_par, ParallelAll5_btn2_par_done, failure_wait, failure_wait2,
		done, ether

	var ignorep: nat, ignoreb: bool,
		runningb:bool := false,
		halt_called_by_me:bool := false,
		force_success:bool := false,
		report_halted:bool := false

	from start_
		wait [0,0];
		on (btnode[ParallelAll5_btn2].caller <> None);
		report_halted := false;
		if (btnode[ParallelAll5_btn2].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 20, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' has been called 
		ignorep := fiacre_c_print_trace(20);
		btnode[ParallelAll5_btn2].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 21, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' is being halted 
		ignorep := fiacre_c_print_trace(21);
		ignorep := fiacre_graphic_trace(4,ns_halt);
		if (btnode[start_drone_btn3].rstatus = running) then
			// Trace index: 22, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' halting Action 'start_drone_btn3'
			ignorep := fiacre_c_print_trace(22);
			btnode[start_drone_btn3].rstatus := halt_me;
			btnode[start_drone_btn3].caller := caller_ParallelAll5_btn2
		end;
		if (btnode[start_camera_btn4].rstatus = running) then
			// Trace index: 23, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' halting Action 'start_camera_btn4'
			ignorep := fiacre_c_print_trace(23);
			btnode[start_camera_btn4].rstatus := halt_me;
			btnode[start_camera_btn4].caller := caller_ParallelAll5_btn2
		end;
		to halt_wait

	from halt_wait
		on (
			(btnode[start_drone_btn3].caller = None) and
			(btnode[start_camera_btn4].caller = None) and
			true);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(4,ns_ticked);
	to ParallelAll5_btn2_par

	from ParallelAll5_btn2_par
		wait [0,0];
		if (runningb) then
			if (btnode[start_drone_btn3].rstatus = running) then
				// Trace index: 24, trace level: 4
				// Btnode ParallelAll 'ParallelAll5_btn2' calling again Action 'start_drone_btn3'
				ignorep := fiacre_c_print_trace(24);
				btnode[start_drone_btn3].caller := caller_ParallelAll5_btn2
			end;
			if (btnode[start_camera_btn4].rstatus = running) then
				// Trace index: 25, trace level: 4
				// Btnode ParallelAll 'ParallelAll5_btn2' calling again Action 'start_camera_btn4'
				ignorep := fiacre_c_print_trace(25);
				btnode[start_camera_btn4].caller := caller_ParallelAll5_btn2
			end;
			null
		else
			// Trace index: 26, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' calling Action 'start_drone_btn3'
			ignorep := fiacre_c_print_trace(26);
			btnode[start_drone_btn3].caller := caller_ParallelAll5_btn2;
			// Trace index: 27, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' calling Action 'start_camera_btn4'
			ignorep := fiacre_c_print_trace(27);
			btnode[start_camera_btn4].caller := caller_ParallelAll5_btn2;
			null
		end;
		ignorep := fiacre_graphic_trace(4,ns_tick_passed);
		to ParallelAll5_btn2_par_done

	from ParallelAll5_btn2_par_done
		wait [0,0];
		on (
			(btnode[start_drone_btn3].caller = None) and
			(btnode[start_camera_btn4].caller = None) and
			true);
		ignorep := fiacre_graphic_trace(4,ns_ticked);
		// Trace index: 28, trace level: 4
		// Btnode ParallelAll 'ParallelAll5_btn2' getting control back from Action 'start_drone_btn3'
		ignorep := fiacre_c_print_trace(28);
		// Trace index: 29, trace level: 4
		// Btnode ParallelAll 'ParallelAll5_btn2' getting control back from Action 'start_camera_btn4'
		ignorep := fiacre_c_print_trace(29);
		if (
			(btnode[start_drone_btn3].rstatus = success) and
			(btnode[start_camera_btn4].rstatus = success) and
			true) then
				runningb := false;
			to success
		elsif (
			(btnode[start_drone_btn3].rstatus = failure) or
			(btnode[start_camera_btn4].rstatus = failure) or
			false) then
				runningb := false;
			to failure_wait
		else 
			runningb := true;
			to running
		end

	from failure_wait
		wait [0,0];
		if (btnode[start_drone_btn3].rstatus = running) then
			// Trace index: 30, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' failed but calling again to wait running Action 'start_drone_btn3'
			ignorep := fiacre_c_print_trace(30);
			btnode[start_drone_btn3].caller := caller_ParallelAll5_btn2
		end;
		if (btnode[start_camera_btn4].rstatus = running) then
			// Trace index: 31, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' failed but calling again to wait running Action 'start_camera_btn4'
			ignorep := fiacre_c_print_trace(31);
			btnode[start_camera_btn4].caller := caller_ParallelAll5_btn2
		end;
		ignorep := fiacre_graphic_trace(4,ns_tick_passed);
	to failure_wait2

	from failure_wait2
		wait [0,0];
		on (
			(btnode[start_drone_btn3].caller = None) and
			(btnode[start_camera_btn4].caller = None) and
			true);
		ignorep := fiacre_graphic_trace(4,ns_ticked);
		if (
			(btnode[start_drone_btn3].rstatus = running) or
			(btnode[start_camera_btn4].rstatus = running) or
			false) then
				to failure_wait
			else
				to failure
		end

	from success
		wait [0,0];
		// Trace index: 32, trace level: 2
		// Btnode ParallelAll 'ParallelAll5_btn2' returns success.
		ignorep := fiacre_c_print_trace(32);
		btnode[ParallelAll5_btn2].rstatus := success;
		ignorep := fiacre_graphic_trace(4,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 33, trace level: 2
			// Btnode ParallelAll 'ParallelAll5_btn2' returns halted failure.
			ignorep := fiacre_c_print_trace(33);
			ignorep := fiacre_graphic_trace(4,ns_halted);
			null
		else
			// Trace index: 34, trace level: 2
			// Btnode ParallelAll 'ParallelAll5_btn2' returns failure.
			ignorep := fiacre_c_print_trace(34);
			ignorep := fiacre_graphic_trace(4,ns_failure);
			null
		end;
		btnode[ParallelAll5_btn2].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 35, trace level: 2
		// Btnode ParallelAll 'ParallelAll5_btn2' has been halted.
		ignorep := fiacre_c_print_trace(35);
		if (halt_called_by_me) then
			if (force_success) then
				to success
			else
				to failure
			end
		else
			report_halted := true;
			to failure
		end

	from running
		wait [0,0];
		// Trace index: 36, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' returns running.
		ignorep := fiacre_c_print_trace(36);
		ignorep := fiacre_graphic_trace(4,ns_running);
		btnode[ParallelAll5_btn2].rstatus := running;
		to done

	from done
		wait [0,0];
		halt_called_by_me := false;
		force_success := false;
		// Trace index: 37, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(37);
		btnode[ParallelAll5_btn2].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_battery_ok_btn7 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, error,
		Condition_battery_ok, dispatch,
		done, ether

	var ignorep: nat, ignoreb: bool, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[battery_ok_btn7].caller <> None);
		// Trace index: 38, trace level: 3
		// Btnode Condition 'battery_ok_btn7' has been called 
		ignorep := fiacre_c_print_trace(38);
		btnode[battery_ok_btn7].rstatus := no_ret_status;
	to tick_node

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(9,ns_ticked);
		to Condition_battery_ok

	from Condition_battery_ok
		// Trace index: 39, trace level: 3
		// Btnode Condition 'battery_ok_btn7' calling its condition external
		ignorep := fiacre_c_print_trace(39);
		ret_val := Fiacre_Condition_battery_ok_ext (btnode[battery_ok_btn7]);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 40, trace level: 2
		// Btnode Condition 'battery_ok_btn7' returns success.
		ignorep := fiacre_c_print_trace(40);
		btnode[battery_ok_btn7].rstatus := success;
		ignorep := fiacre_graphic_trace(9,ns_success);
		to done

	from failure
		wait [0,0];
			// Trace index: 41, trace level: 2
			// Btnode Condition 'battery_ok_btn7' returns failure.
			ignorep := fiacre_c_print_trace(41);
			ignorep := fiacre_graphic_trace(9,ns_failure);
		btnode[battery_ok_btn7].rstatus := failure;
		to done

	from done
		wait [0,0];
		// Trace index: 42, trace level: 3
		// Btnode Condition 'battery_ok_btn7' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(42);
		btnode[battery_ok_btn7].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_land_btn9 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_land, dispatch, Action_land_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[land_btn9].caller <> None);
		report_halted := false;
		if (btnode[land_btn9].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 43, trace level: 3
		// Btnode Action 'land_btn9' has been called 
		ignorep := fiacre_c_print_trace(43);
		btnode[land_btn9].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 44, trace level: 3
		// Btnode Action 'land_btn9' is being halted 
		ignorep := fiacre_c_print_trace(44);
		ignorep := fiacre_graphic_trace(11,ns_halt);
		ignoreb := Fiacre_Action_land_halt (btnode[land_btn9]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(11,ns_ticked);
		to Action_land

	from Action_land
		// Trace index: 45, trace level: 3
		// Btnode Action 'land_btn9' calling its action (start task)
		ignorep := fiacre_c_print_trace(45);
		start Fiacre_Action_land_task (btnode[land_btn9]);
	to Action_land_sync

	from Action_land_sync
		sync Fiacre_Action_land_task ret_val;
		// Trace index: 46, trace level: 3
		// Btnode Action 'land_btn9' returned (sync task)
		ignorep := fiacre_c_print_trace(46);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 47, trace level: 2
		// Btnode Action 'land_btn9' returns success.
		ignorep := fiacre_c_print_trace(47);
		btnode[land_btn9].rstatus := success;
		ignorep := fiacre_graphic_trace(11,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 48, trace level: 2
			// Btnode Action 'land_btn9' returns halted failure.
			ignorep := fiacre_c_print_trace(48);
			ignorep := fiacre_graphic_trace(11,ns_halted);
			null
		else
			// Trace index: 49, trace level: 2
			// Btnode Action 'land_btn9' returns failure.
			ignorep := fiacre_c_print_trace(49);
			ignorep := fiacre_graphic_trace(11,ns_failure);
			null
		end;
		btnode[land_btn9].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 50, trace level: 2
		// Btnode Action 'land_btn9' has been halted.
		ignorep := fiacre_c_print_trace(50);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 51, trace level: 3
		// Btnode Action 'land_btn9' returns running.
		ignorep := fiacre_c_print_trace(51);
		ignorep := fiacre_graphic_trace(11,ns_running);
		btnode[land_btn9].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 52, trace level: 3
		// Btnode Action 'land_btn9' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(52);
		btnode[land_btn9].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_fail_btn8 (&btnode: btnode_array) is

	states start_, tick_node, failure, halt, halted, halt_wait, running, error,
		land_btn9, land_btn9_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false

	from start_
		wait [0,0];
		on (btnode[fail_btn8].caller <> None);
		report_halted := false;
		if (btnode[fail_btn8].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 53, trace level: 3
		// Btnode ForceFailure 'fail_btn8' has been called 
		ignorep := fiacre_c_print_trace(53);
		btnode[fail_btn8].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 54, trace level: 3
		// Btnode ForceFailure 'fail_btn8' is being halted 
		ignorep := fiacre_c_print_trace(54);
		ignorep := fiacre_graphic_trace(10,ns_halt);
		if (btnode[land_btn9].rstatus = running) then
			// Trace index: 55, trace level: 4
			// Btnode ForceFailure 'fail_btn8' halting Action 'land_btn9'
			ignorep := fiacre_c_print_trace(55);
			btnode[land_btn9].rstatus := halt_me;
			btnode[land_btn9].caller := caller_fail_btn8;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (btnode[land_btn9].caller = None);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(10,ns_ticked);
	to land_btn9

	from land_btn9
		wait [0,0];
		// Trace index: 56, trace level: 4
		// Btnode ForceFailure 'fail_btn8' calling Action 'land_btn9'
		ignorep := fiacre_c_print_trace(56);
		btnode[land_btn9].caller := caller_fail_btn8;
		ignorep := fiacre_graphic_trace(10,ns_tick_passed);
		to land_btn9_done

	from land_btn9_done
		wait [0,0];
		on (btnode[land_btn9].caller = None);
		// Trace index: 57, trace level: 4
		// Btnode ForceFailure 'fail_btn8' getting control back from Action 'land_btn9'
		ignorep := fiacre_c_print_trace(57);
		if (btnode[land_btn9].rstatus = success) then
			to failure
		elsif (btnode[land_btn9].rstatus = failure) then
			to failure
		elsif (btnode[land_btn9].rstatus = running) then
			to running
		else
			to error
		end

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 58, trace level: 2
			// Btnode ForceFailure 'fail_btn8' returns halted failure.
			ignorep := fiacre_c_print_trace(58);
			ignorep := fiacre_graphic_trace(10,ns_halted);
			null
		else
			// Trace index: 59, trace level: 2
			// Btnode ForceFailure 'fail_btn8' returns failure.
			ignorep := fiacre_c_print_trace(59);
			ignorep := fiacre_graphic_trace(10,ns_failure);
			null
		end;
		btnode[fail_btn8].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 60, trace level: 2
		// Btnode ForceFailure 'fail_btn8' has been halted.
		ignorep := fiacre_c_print_trace(60);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 61, trace level: 3
		// Btnode ForceFailure 'fail_btn8' returns running.
		ignorep := fiacre_c_print_trace(61);
		ignorep := fiacre_graphic_trace(10,ns_running);
		btnode[fail_btn8].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 62, trace level: 3
		// Btnode ForceFailure 'fail_btn8' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(62);
		btnode[fail_btn8].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Fallback13_btn6 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		battery_ok_btn7, battery_ok_btn7_done,
		fail_btn8, fail_btn8_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false,
		next_fb: 1..2 := 1

	from start_
		wait [0,0];
		on (btnode[Fallback13_btn6].caller <> None);
		report_halted := false;
		if (btnode[Fallback13_btn6].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 63, trace level: 3
		// Btnode Fallback 'Fallback13_btn6' has been called 
		ignorep := fiacre_c_print_trace(63);
		btnode[Fallback13_btn6].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 64, trace level: 3
		// Btnode Fallback 'Fallback13_btn6' is being halted 
		ignorep := fiacre_c_print_trace(64);
		ignorep := fiacre_graphic_trace(8,ns_halt);
		if (btnode[battery_ok_btn7].rstatus = running) then
			// Trace index: 65, trace level: 4
			// Btnode Fallback 'Fallback13_btn6' halting Condition 'battery_ok_btn7'
			ignorep := fiacre_c_print_trace(65);
			btnode[battery_ok_btn7].rstatus := halt_me;
			btnode[battery_ok_btn7].caller := caller_Fallback13_btn6;
			to halt_wait
		end;
		if (btnode[fail_btn8].rstatus = running) then
			// Trace index: 66, trace level: 4
			// Btnode Fallback 'Fallback13_btn6' halting ForceFailure 'fail_btn8'
			ignorep := fiacre_c_print_trace(66);
			btnode[fail_btn8].rstatus := halt_me;
			btnode[fail_btn8].caller := caller_Fallback13_btn6;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[battery_ok_btn7].caller = None) and
			(btnode[fail_btn8].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		if (next_fb = 1) then to battery_ok_btn7 end;
		if (next_fb = 2) then to fail_btn8 end;
		to error

	from battery_ok_btn7
		wait [0,0];
		// Trace index: 67, trace level: 4
		// Btnode Fallback 'Fallback13_btn6' calling Condition 'battery_ok_btn7'
		ignorep := fiacre_c_print_trace(67);
		btnode[battery_ok_btn7].caller := caller_Fallback13_btn6;
		ignorep := fiacre_graphic_trace(8,ns_tick_passed);
		to battery_ok_btn7_done

	from battery_ok_btn7_done
		wait [0,0];
		on (btnode[battery_ok_btn7].caller = None);
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		// Trace index: 68, trace level: 4
		// Btnode Fallback 'Fallback13_btn6' getting control back from Condition 'battery_ok_btn7'
		ignorep := fiacre_c_print_trace(68);
		if (btnode[battery_ok_btn7].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[battery_ok_btn7].rstatus = failure) then
			to fail_btn8
		elsif (btnode[battery_ok_btn7].rstatus = running) then
			next_fb := 1;
			to running
		else
			to error
		end

	from fail_btn8
		wait [0,0];
		// Trace index: 69, trace level: 4
		// Btnode Fallback 'Fallback13_btn6' calling ForceFailure 'fail_btn8'
		ignorep := fiacre_c_print_trace(69);
		btnode[fail_btn8].caller := caller_Fallback13_btn6;
		ignorep := fiacre_graphic_trace(8,ns_tick_passed);
		to fail_btn8_done

	from fail_btn8_done
		wait [0,0];
		on (btnode[fail_btn8].caller = None);
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		// Trace index: 70, trace level: 4
		// Btnode Fallback 'Fallback13_btn6' getting control back from ForceFailure 'fail_btn8'
		ignorep := fiacre_c_print_trace(70);
		if (btnode[fail_btn8].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[fail_btn8].rstatus = failure) then
			next_fb := 1;
			to failure
		elsif (btnode[fail_btn8].rstatus = running) then
			next_fb := 2;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 71, trace level: 2
		// Btnode Fallback 'Fallback13_btn6' returns success.
		ignorep := fiacre_c_print_trace(71);
		btnode[Fallback13_btn6].rstatus := success;
		ignorep := fiacre_graphic_trace(8,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 72, trace level: 2
			// Btnode Fallback 'Fallback13_btn6' returns halted failure.
			ignorep := fiacre_c_print_trace(72);
			ignorep := fiacre_graphic_trace(8,ns_halted);
			null
		else
			// Trace index: 73, trace level: 2
			// Btnode Fallback 'Fallback13_btn6' returns failure.
			ignorep := fiacre_c_print_trace(73);
			ignorep := fiacre_graphic_trace(8,ns_failure);
			null
		end;
		btnode[Fallback13_btn6].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 74, trace level: 2
		// Btnode Fallback 'Fallback13_btn6' has been halted.
		ignorep := fiacre_c_print_trace(74);
		next_fb := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 75, trace level: 3
		// Btnode Fallback 'Fallback13_btn6' returns running.
		ignorep := fiacre_c_print_trace(75);
		ignorep := fiacre_graphic_trace(8,ns_running);
		btnode[Fallback13_btn6].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 76, trace level: 3
		// Btnode Fallback 'Fallback13_btn6' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(76);
		btnode[Fallback13_btn6].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_localization_ok_btn11 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, error,
		Condition_localization_ok, dispatch,
		done, ether

	var ignorep: nat, ignoreb: bool, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[localization_ok_btn11].caller <> None);
		// Trace index: 77, trace level: 3
		// Btnode Condition 'localization_ok_btn11' has been called 
		ignorep := fiacre_c_print_trace(77);
		btnode[localization_ok_btn11].rstatus := no_ret_status;
	to tick_node

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(13,ns_ticked);
		to Condition_localization_ok

	from Condition_localization_ok
		// Trace index: 78, trace level: 3
		// Btnode Condition 'localization_ok_btn11' calling its condition external
		ignorep := fiacre_c_print_trace(78);
		ret_val := Fiacre_Condition_localization_ok_ext (btnode[localization_ok_btn11]);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 79, trace level: 2
		// Btnode Condition 'localization_ok_btn11' returns success.
		ignorep := fiacre_c_print_trace(79);
		btnode[localization_ok_btn11].rstatus := success;
		ignorep := fiacre_graphic_trace(13,ns_success);
		to done

	from failure
		wait [0,0];
			// Trace index: 80, trace level: 2
			// Btnode Condition 'localization_ok_btn11' returns failure.
			ignorep := fiacre_c_print_trace(80);
			ignorep := fiacre_graphic_trace(13,ns_failure);
		btnode[localization_ok_btn11].rstatus := failure;
		to done

	from done
		wait [0,0];
		// Trace index: 81, trace level: 3
		// Btnode Condition 'localization_ok_btn11' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(81);
		btnode[localization_ok_btn11].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_land_btn13 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_land, dispatch, Action_land_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[land_btn13].caller <> None);
		report_halted := false;
		if (btnode[land_btn13].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 82, trace level: 3
		// Btnode Action 'land_btn13' has been called 
		ignorep := fiacre_c_print_trace(82);
		btnode[land_btn13].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 83, trace level: 3
		// Btnode Action 'land_btn13' is being halted 
		ignorep := fiacre_c_print_trace(83);
		ignorep := fiacre_graphic_trace(15,ns_halt);
		ignoreb := Fiacre_Action_land_halt (btnode[land_btn13]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(15,ns_ticked);
		to Action_land

	from Action_land
		// Trace index: 84, trace level: 3
		// Btnode Action 'land_btn13' calling its action (start task)
		ignorep := fiacre_c_print_trace(84);
		start Fiacre_Action_land_task (btnode[land_btn13]);
	to Action_land_sync

	from Action_land_sync
		sync Fiacre_Action_land_task ret_val;
		// Trace index: 85, trace level: 3
		// Btnode Action 'land_btn13' returned (sync task)
		ignorep := fiacre_c_print_trace(85);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 86, trace level: 2
		// Btnode Action 'land_btn13' returns success.
		ignorep := fiacre_c_print_trace(86);
		btnode[land_btn13].rstatus := success;
		ignorep := fiacre_graphic_trace(15,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 87, trace level: 2
			// Btnode Action 'land_btn13' returns halted failure.
			ignorep := fiacre_c_print_trace(87);
			ignorep := fiacre_graphic_trace(15,ns_halted);
			null
		else
			// Trace index: 88, trace level: 2
			// Btnode Action 'land_btn13' returns failure.
			ignorep := fiacre_c_print_trace(88);
			ignorep := fiacre_graphic_trace(15,ns_failure);
			null
		end;
		btnode[land_btn13].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 89, trace level: 2
		// Btnode Action 'land_btn13' has been halted.
		ignorep := fiacre_c_print_trace(89);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 90, trace level: 3
		// Btnode Action 'land_btn13' returns running.
		ignorep := fiacre_c_print_trace(90);
		ignorep := fiacre_graphic_trace(15,ns_running);
		btnode[land_btn13].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 91, trace level: 3
		// Btnode Action 'land_btn13' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(91);
		btnode[land_btn13].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_fail_btn12 (&btnode: btnode_array) is

	states start_, tick_node, failure, halt, halted, halt_wait, running, error,
		land_btn13, land_btn13_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false

	from start_
		wait [0,0];
		on (btnode[fail_btn12].caller <> None);
		report_halted := false;
		if (btnode[fail_btn12].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 92, trace level: 3
		// Btnode ForceFailure 'fail_btn12' has been called 
		ignorep := fiacre_c_print_trace(92);
		btnode[fail_btn12].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 93, trace level: 3
		// Btnode ForceFailure 'fail_btn12' is being halted 
		ignorep := fiacre_c_print_trace(93);
		ignorep := fiacre_graphic_trace(14,ns_halt);
		if (btnode[land_btn13].rstatus = running) then
			// Trace index: 94, trace level: 4
			// Btnode ForceFailure 'fail_btn12' halting Action 'land_btn13'
			ignorep := fiacre_c_print_trace(94);
			btnode[land_btn13].rstatus := halt_me;
			btnode[land_btn13].caller := caller_fail_btn12;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (btnode[land_btn13].caller = None);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(14,ns_ticked);
	to land_btn13

	from land_btn13
		wait [0,0];
		// Trace index: 95, trace level: 4
		// Btnode ForceFailure 'fail_btn12' calling Action 'land_btn13'
		ignorep := fiacre_c_print_trace(95);
		btnode[land_btn13].caller := caller_fail_btn12;
		ignorep := fiacre_graphic_trace(14,ns_tick_passed);
		to land_btn13_done

	from land_btn13_done
		wait [0,0];
		on (btnode[land_btn13].caller = None);
		// Trace index: 96, trace level: 4
		// Btnode ForceFailure 'fail_btn12' getting control back from Action 'land_btn13'
		ignorep := fiacre_c_print_trace(96);
		if (btnode[land_btn13].rstatus = success) then
			to failure
		elsif (btnode[land_btn13].rstatus = failure) then
			to failure
		elsif (btnode[land_btn13].rstatus = running) then
			to running
		else
			to error
		end

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 97, trace level: 2
			// Btnode ForceFailure 'fail_btn12' returns halted failure.
			ignorep := fiacre_c_print_trace(97);
			ignorep := fiacre_graphic_trace(14,ns_halted);
			null
		else
			// Trace index: 98, trace level: 2
			// Btnode ForceFailure 'fail_btn12' returns failure.
			ignorep := fiacre_c_print_trace(98);
			ignorep := fiacre_graphic_trace(14,ns_failure);
			null
		end;
		btnode[fail_btn12].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 99, trace level: 2
		// Btnode ForceFailure 'fail_btn12' has been halted.
		ignorep := fiacre_c_print_trace(99);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 100, trace level: 3
		// Btnode ForceFailure 'fail_btn12' returns running.
		ignorep := fiacre_c_print_trace(100);
		ignorep := fiacre_graphic_trace(14,ns_running);
		btnode[fail_btn12].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 101, trace level: 3
		// Btnode ForceFailure 'fail_btn12' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(101);
		btnode[fail_btn12].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Fallback21_btn10 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		localization_ok_btn11, localization_ok_btn11_done,
		fail_btn12, fail_btn12_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false,
		next_fb: 1..2 := 1

	from start_
		wait [0,0];
		on (btnode[Fallback21_btn10].caller <> None);
		report_halted := false;
		if (btnode[Fallback21_btn10].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 102, trace level: 3
		// Btnode Fallback 'Fallback21_btn10' has been called 
		ignorep := fiacre_c_print_trace(102);
		btnode[Fallback21_btn10].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 103, trace level: 3
		// Btnode Fallback 'Fallback21_btn10' is being halted 
		ignorep := fiacre_c_print_trace(103);
		ignorep := fiacre_graphic_trace(12,ns_halt);
		if (btnode[localization_ok_btn11].rstatus = running) then
			// Trace index: 104, trace level: 4
			// Btnode Fallback 'Fallback21_btn10' halting Condition 'localization_ok_btn11'
			ignorep := fiacre_c_print_trace(104);
			btnode[localization_ok_btn11].rstatus := halt_me;
			btnode[localization_ok_btn11].caller := caller_Fallback21_btn10;
			to halt_wait
		end;
		if (btnode[fail_btn12].rstatus = running) then
			// Trace index: 105, trace level: 4
			// Btnode Fallback 'Fallback21_btn10' halting ForceFailure 'fail_btn12'
			ignorep := fiacre_c_print_trace(105);
			btnode[fail_btn12].rstatus := halt_me;
			btnode[fail_btn12].caller := caller_Fallback21_btn10;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[localization_ok_btn11].caller = None) and
			(btnode[fail_btn12].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(12,ns_ticked);
		if (next_fb = 1) then to localization_ok_btn11 end;
		if (next_fb = 2) then to fail_btn12 end;
		to error

	from localization_ok_btn11
		wait [0,0];
		// Trace index: 106, trace level: 4
		// Btnode Fallback 'Fallback21_btn10' calling Condition 'localization_ok_btn11'
		ignorep := fiacre_c_print_trace(106);
		btnode[localization_ok_btn11].caller := caller_Fallback21_btn10;
		ignorep := fiacre_graphic_trace(12,ns_tick_passed);
		to localization_ok_btn11_done

	from localization_ok_btn11_done
		wait [0,0];
		on (btnode[localization_ok_btn11].caller = None);
		ignorep := fiacre_graphic_trace(12,ns_ticked);
		// Trace index: 107, trace level: 4
		// Btnode Fallback 'Fallback21_btn10' getting control back from Condition 'localization_ok_btn11'
		ignorep := fiacre_c_print_trace(107);
		if (btnode[localization_ok_btn11].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[localization_ok_btn11].rstatus = failure) then
			to fail_btn12
		elsif (btnode[localization_ok_btn11].rstatus = running) then
			next_fb := 1;
			to running
		else
			to error
		end

	from fail_btn12
		wait [0,0];
		// Trace index: 108, trace level: 4
		// Btnode Fallback 'Fallback21_btn10' calling ForceFailure 'fail_btn12'
		ignorep := fiacre_c_print_trace(108);
		btnode[fail_btn12].caller := caller_Fallback21_btn10;
		ignorep := fiacre_graphic_trace(12,ns_tick_passed);
		to fail_btn12_done

	from fail_btn12_done
		wait [0,0];
		on (btnode[fail_btn12].caller = None);
		ignorep := fiacre_graphic_trace(12,ns_ticked);
		// Trace index: 109, trace level: 4
		// Btnode Fallback 'Fallback21_btn10' getting control back from ForceFailure 'fail_btn12'
		ignorep := fiacre_c_print_trace(109);
		if (btnode[fail_btn12].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[fail_btn12].rstatus = failure) then
			next_fb := 1;
			to failure
		elsif (btnode[fail_btn12].rstatus = running) then
			next_fb := 2;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 110, trace level: 2
		// Btnode Fallback 'Fallback21_btn10' returns success.
		ignorep := fiacre_c_print_trace(110);
		btnode[Fallback21_btn10].rstatus := success;
		ignorep := fiacre_graphic_trace(12,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 111, trace level: 2
			// Btnode Fallback 'Fallback21_btn10' returns halted failure.
			ignorep := fiacre_c_print_trace(111);
			ignorep := fiacre_graphic_trace(12,ns_halted);
			null
		else
			// Trace index: 112, trace level: 2
			// Btnode Fallback 'Fallback21_btn10' returns failure.
			ignorep := fiacre_c_print_trace(112);
			ignorep := fiacre_graphic_trace(12,ns_failure);
			null
		end;
		btnode[Fallback21_btn10].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 113, trace level: 2
		// Btnode Fallback 'Fallback21_btn10' has been halted.
		ignorep := fiacre_c_print_trace(113);
		next_fb := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 114, trace level: 3
		// Btnode Fallback 'Fallback21_btn10' returns running.
		ignorep := fiacre_c_print_trace(114);
		ignorep := fiacre_graphic_trace(12,ns_running);
		btnode[Fallback21_btn10].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 115, trace level: 3
		// Btnode Fallback 'Fallback21_btn10' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(115);
		btnode[Fallback21_btn10].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_takeoff_btn15 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_takeoff, dispatch, Action_takeoff_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[takeoff_btn15].caller <> None);
		report_halted := false;
		if (btnode[takeoff_btn15].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 116, trace level: 3
		// Btnode Action 'takeoff_btn15' has been called (:height 1.000000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(116);
		btnode[takeoff_btn15].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 117, trace level: 3
		// Btnode Action 'takeoff_btn15' is being halted (:height 1.000000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(117);
		ignorep := fiacre_graphic_trace(17,ns_halt);
		ignoreb := Fiacre_Action_takeoff_halt (btnode[takeoff_btn15]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(17,ns_ticked);
		to Action_takeoff

	from Action_takeoff
		// synthesized action arg index  1
		btnode[takeoff_btn15].ArgIndex := 1;
		// Trace index: 118, trace level: 3
		// Btnode Action 'takeoff_btn15' calling its action (start task)
		ignorep := fiacre_c_print_trace(118);
		start Fiacre_Action_takeoff_task (btnode[takeoff_btn15]);
	to Action_takeoff_sync

	from Action_takeoff_sync
		sync Fiacre_Action_takeoff_task ret_val;
		// Trace index: 119, trace level: 3
		// Btnode Action 'takeoff_btn15' returned (sync task)
		ignorep := fiacre_c_print_trace(119);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 120, trace level: 2
		// Btnode Action 'takeoff_btn15' (:height 1.000000  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(120);
		btnode[takeoff_btn15].rstatus := success;
		ignorep := fiacre_graphic_trace(17,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 121, trace level: 2
			// Btnode Action 'takeoff_btn15' (:height 1.000000  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(121);
			ignorep := fiacre_graphic_trace(17,ns_halted);
			null
		else
			// Trace index: 122, trace level: 2
			// Btnode Action 'takeoff_btn15' (:height 1.000000  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(122);
			ignorep := fiacre_graphic_trace(17,ns_failure);
			null
		end;
		btnode[takeoff_btn15].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 123, trace level: 2
		// Btnode Action 'takeoff_btn15' (:height 1.000000  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(123);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 124, trace level: 3
		// Btnode Action 'takeoff_btn15' (:height 1.000000  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(124);
		ignorep := fiacre_graphic_trace(17,ns_running);
		btnode[takeoff_btn15].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 125, trace level: 3
		// Btnode Action 'takeoff_btn15' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(125);
		btnode[takeoff_btn15].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_camera_tracking_btn17 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_camera_tracking, dispatch, Action_camera_tracking_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[camera_tracking_btn17].caller <> None);
		report_halted := false;
		if (btnode[camera_tracking_btn17].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 126, trace level: 3
		// Btnode Action 'camera_tracking_btn17' has been called 
		ignorep := fiacre_c_print_trace(126);
		btnode[camera_tracking_btn17].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 127, trace level: 3
		// Btnode Action 'camera_tracking_btn17' is being halted 
		ignorep := fiacre_c_print_trace(127);
		ignorep := fiacre_graphic_trace(19,ns_halt);
		ignoreb := Fiacre_Action_camera_tracking_halt (btnode[camera_tracking_btn17]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(19,ns_ticked);
		to Action_camera_tracking

	from Action_camera_tracking
		// Trace index: 128, trace level: 3
		// Btnode Action 'camera_tracking_btn17' calling its action (start task)
		ignorep := fiacre_c_print_trace(128);
		start Fiacre_Action_camera_tracking_task (btnode[camera_tracking_btn17]);
	to Action_camera_tracking_sync

	from Action_camera_tracking_sync
		sync Fiacre_Action_camera_tracking_task ret_val;
		// Trace index: 129, trace level: 3
		// Btnode Action 'camera_tracking_btn17' returned (sync task)
		ignorep := fiacre_c_print_trace(129);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 130, trace level: 2
		// Btnode Action 'camera_tracking_btn17' returns success.
		ignorep := fiacre_c_print_trace(130);
		btnode[camera_tracking_btn17].rstatus := success;
		ignorep := fiacre_graphic_trace(19,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 131, trace level: 2
			// Btnode Action 'camera_tracking_btn17' returns halted failure.
			ignorep := fiacre_c_print_trace(131);
			ignorep := fiacre_graphic_trace(19,ns_halted);
			null
		else
			// Trace index: 132, trace level: 2
			// Btnode Action 'camera_tracking_btn17' returns failure.
			ignorep := fiacre_c_print_trace(132);
			ignorep := fiacre_graphic_trace(19,ns_failure);
			null
		end;
		btnode[camera_tracking_btn17].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 133, trace level: 2
		// Btnode Action 'camera_tracking_btn17' has been halted.
		ignorep := fiacre_c_print_trace(133);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 134, trace level: 3
		// Btnode Action 'camera_tracking_btn17' returns running.
		ignorep := fiacre_c_print_trace(134);
		ignorep := fiacre_graphic_trace(19,ns_running);
		btnode[camera_tracking_btn17].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 135, trace level: 3
		// Btnode Action 'camera_tracking_btn17' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(135);
		btnode[camera_tracking_btn17].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn19 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn19].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn19].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 136, trace level: 3
		// Btnode Action 'goto_waypoint_btn19' has been called (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(136);
		btnode[goto_waypoint_btn19].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 137, trace level: 3
		// Btnode Action 'goto_waypoint_btn19' is being halted (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(137);
		ignorep := fiacre_graphic_trace(21,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn19]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(21,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  2
		btnode[goto_waypoint_btn19].ArgIndex := 2;
		// Trace index: 138, trace level: 3
		// Btnode Action 'goto_waypoint_btn19' calling its action (start task)
		ignorep := fiacre_c_print_trace(138);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn19]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 139, trace level: 3
		// Btnode Action 'goto_waypoint_btn19' returned (sync task)
		ignorep := fiacre_c_print_trace(139);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 140, trace level: 2
		// Btnode Action 'goto_waypoint_btn19' (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(140);
		btnode[goto_waypoint_btn19].rstatus := success;
		ignorep := fiacre_graphic_trace(21,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 141, trace level: 2
			// Btnode Action 'goto_waypoint_btn19' (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(141);
			ignorep := fiacre_graphic_trace(21,ns_halted);
			null
		else
			// Trace index: 142, trace level: 2
			// Btnode Action 'goto_waypoint_btn19' (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(142);
			ignorep := fiacre_graphic_trace(21,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn19].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 143, trace level: 2
		// Btnode Action 'goto_waypoint_btn19' (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(143);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 144, trace level: 3
		// Btnode Action 'goto_waypoint_btn19' (:x -3  :y -3  :z 5  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(144);
		ignorep := fiacre_graphic_trace(21,ns_running);
		btnode[goto_waypoint_btn19].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 145, trace level: 3
		// Btnode Action 'goto_waypoint_btn19' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(145);
		btnode[goto_waypoint_btn19].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn20 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn20].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn20].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 146, trace level: 3
		// Btnode Action 'goto_waypoint_btn20' has been called (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(146);
		btnode[goto_waypoint_btn20].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 147, trace level: 3
		// Btnode Action 'goto_waypoint_btn20' is being halted (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(147);
		ignorep := fiacre_graphic_trace(22,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn20]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  3
		btnode[goto_waypoint_btn20].ArgIndex := 3;
		// Trace index: 148, trace level: 3
		// Btnode Action 'goto_waypoint_btn20' calling its action (start task)
		ignorep := fiacre_c_print_trace(148);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn20]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 149, trace level: 3
		// Btnode Action 'goto_waypoint_btn20' returned (sync task)
		ignorep := fiacre_c_print_trace(149);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 150, trace level: 2
		// Btnode Action 'goto_waypoint_btn20' (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(150);
		btnode[goto_waypoint_btn20].rstatus := success;
		ignorep := fiacre_graphic_trace(22,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 151, trace level: 2
			// Btnode Action 'goto_waypoint_btn20' (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(151);
			ignorep := fiacre_graphic_trace(22,ns_halted);
			null
		else
			// Trace index: 152, trace level: 2
			// Btnode Action 'goto_waypoint_btn20' (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(152);
			ignorep := fiacre_graphic_trace(22,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn20].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 153, trace level: 2
		// Btnode Action 'goto_waypoint_btn20' (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(153);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 154, trace level: 3
		// Btnode Action 'goto_waypoint_btn20' (:x -1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(154);
		ignorep := fiacre_graphic_trace(22,ns_running);
		btnode[goto_waypoint_btn20].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 155, trace level: 3
		// Btnode Action 'goto_waypoint_btn20' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(155);
		btnode[goto_waypoint_btn20].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn21 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn21].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn21].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 156, trace level: 3
		// Btnode Action 'goto_waypoint_btn21' has been called (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(156);
		btnode[goto_waypoint_btn21].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 157, trace level: 3
		// Btnode Action 'goto_waypoint_btn21' is being halted (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(157);
		ignorep := fiacre_graphic_trace(23,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn21]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(23,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  4
		btnode[goto_waypoint_btn21].ArgIndex := 4;
		// Trace index: 158, trace level: 3
		// Btnode Action 'goto_waypoint_btn21' calling its action (start task)
		ignorep := fiacre_c_print_trace(158);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn21]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 159, trace level: 3
		// Btnode Action 'goto_waypoint_btn21' returned (sync task)
		ignorep := fiacre_c_print_trace(159);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 160, trace level: 2
		// Btnode Action 'goto_waypoint_btn21' (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(160);
		btnode[goto_waypoint_btn21].rstatus := success;
		ignorep := fiacre_graphic_trace(23,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 161, trace level: 2
			// Btnode Action 'goto_waypoint_btn21' (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(161);
			ignorep := fiacre_graphic_trace(23,ns_halted);
			null
		else
			// Trace index: 162, trace level: 2
			// Btnode Action 'goto_waypoint_btn21' (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(162);
			ignorep := fiacre_graphic_trace(23,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn21].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 163, trace level: 2
		// Btnode Action 'goto_waypoint_btn21' (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(163);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 164, trace level: 3
		// Btnode Action 'goto_waypoint_btn21' (:x 0  :y -3  :z 5  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(164);
		ignorep := fiacre_graphic_trace(23,ns_running);
		btnode[goto_waypoint_btn21].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 165, trace level: 3
		// Btnode Action 'goto_waypoint_btn21' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(165);
		btnode[goto_waypoint_btn21].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn22 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn22].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn22].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 166, trace level: 3
		// Btnode Action 'goto_waypoint_btn22' has been called (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(166);
		btnode[goto_waypoint_btn22].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 167, trace level: 3
		// Btnode Action 'goto_waypoint_btn22' is being halted (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(167);
		ignorep := fiacre_graphic_trace(24,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn22]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(24,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  5
		btnode[goto_waypoint_btn22].ArgIndex := 5;
		// Trace index: 168, trace level: 3
		// Btnode Action 'goto_waypoint_btn22' calling its action (start task)
		ignorep := fiacre_c_print_trace(168);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn22]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 169, trace level: 3
		// Btnode Action 'goto_waypoint_btn22' returned (sync task)
		ignorep := fiacre_c_print_trace(169);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 170, trace level: 2
		// Btnode Action 'goto_waypoint_btn22' (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(170);
		btnode[goto_waypoint_btn22].rstatus := success;
		ignorep := fiacre_graphic_trace(24,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 171, trace level: 2
			// Btnode Action 'goto_waypoint_btn22' (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(171);
			ignorep := fiacre_graphic_trace(24,ns_halted);
			null
		else
			// Trace index: 172, trace level: 2
			// Btnode Action 'goto_waypoint_btn22' (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(172);
			ignorep := fiacre_graphic_trace(24,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn22].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 173, trace level: 2
		// Btnode Action 'goto_waypoint_btn22' (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(173);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 174, trace level: 3
		// Btnode Action 'goto_waypoint_btn22' (:x 1.500000  :y 3  :z 5  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(174);
		ignorep := fiacre_graphic_trace(24,ns_running);
		btnode[goto_waypoint_btn22].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 175, trace level: 3
		// Btnode Action 'goto_waypoint_btn22' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(175);
		btnode[goto_waypoint_btn22].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn23 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn23].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn23].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 176, trace level: 3
		// Btnode Action 'goto_waypoint_btn23' has been called (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(176);
		btnode[goto_waypoint_btn23].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 177, trace level: 3
		// Btnode Action 'goto_waypoint_btn23' is being halted (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(177);
		ignorep := fiacre_graphic_trace(25,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn23]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(25,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  6
		btnode[goto_waypoint_btn23].ArgIndex := 6;
		// Trace index: 178, trace level: 3
		// Btnode Action 'goto_waypoint_btn23' calling its action (start task)
		ignorep := fiacre_c_print_trace(178);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn23]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 179, trace level: 3
		// Btnode Action 'goto_waypoint_btn23' returned (sync task)
		ignorep := fiacre_c_print_trace(179);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 180, trace level: 2
		// Btnode Action 'goto_waypoint_btn23' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(180);
		btnode[goto_waypoint_btn23].rstatus := success;
		ignorep := fiacre_graphic_trace(25,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 181, trace level: 2
			// Btnode Action 'goto_waypoint_btn23' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(181);
			ignorep := fiacre_graphic_trace(25,ns_halted);
			null
		else
			// Trace index: 182, trace level: 2
			// Btnode Action 'goto_waypoint_btn23' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(182);
			ignorep := fiacre_graphic_trace(25,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn23].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 183, trace level: 2
		// Btnode Action 'goto_waypoint_btn23' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(183);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 184, trace level: 3
		// Btnode Action 'goto_waypoint_btn23' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(184);
		ignorep := fiacre_graphic_trace(25,ns_running);
		btnode[goto_waypoint_btn23].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 185, trace level: 3
		// Btnode Action 'goto_waypoint_btn23' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(185);
		btnode[goto_waypoint_btn23].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn24 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn24].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn24].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 186, trace level: 3
		// Btnode Action 'goto_waypoint_btn24' has been called (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(186);
		btnode[goto_waypoint_btn24].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 187, trace level: 3
		// Btnode Action 'goto_waypoint_btn24' is being halted (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(187);
		ignorep := fiacre_graphic_trace(26,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn24]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(26,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  7
		btnode[goto_waypoint_btn24].ArgIndex := 7;
		// Trace index: 188, trace level: 3
		// Btnode Action 'goto_waypoint_btn24' calling its action (start task)
		ignorep := fiacre_c_print_trace(188);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn24]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 189, trace level: 3
		// Btnode Action 'goto_waypoint_btn24' returned (sync task)
		ignorep := fiacre_c_print_trace(189);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 190, trace level: 2
		// Btnode Action 'goto_waypoint_btn24' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(190);
		btnode[goto_waypoint_btn24].rstatus := success;
		ignorep := fiacre_graphic_trace(26,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 191, trace level: 2
			// Btnode Action 'goto_waypoint_btn24' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(191);
			ignorep := fiacre_graphic_trace(26,ns_halted);
			null
		else
			// Trace index: 192, trace level: 2
			// Btnode Action 'goto_waypoint_btn24' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(192);
			ignorep := fiacre_graphic_trace(26,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn24].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 193, trace level: 2
		// Btnode Action 'goto_waypoint_btn24' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(193);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 194, trace level: 3
		// Btnode Action 'goto_waypoint_btn24' (:x 3  :y -3  :z 5  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(194);
		ignorep := fiacre_graphic_trace(26,ns_running);
		btnode[goto_waypoint_btn24].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 195, trace level: 3
		// Btnode Action 'goto_waypoint_btn24' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(195);
		btnode[goto_waypoint_btn24].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Sequence37_btn18 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		goto_waypoint_btn19, goto_waypoint_btn19_done,
		goto_waypoint_btn20, goto_waypoint_btn20_done,
		goto_waypoint_btn21, goto_waypoint_btn21_done,
		goto_waypoint_btn22, goto_waypoint_btn22_done,
		goto_waypoint_btn23, goto_waypoint_btn23_done,
		goto_waypoint_btn24, goto_waypoint_btn24_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false,
		next_seq: 1..7 := 1

	from start_
		wait [0,0];
		on (btnode[Sequence37_btn18].caller <> None);
		report_halted := false;
		if (btnode[Sequence37_btn18].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 196, trace level: 3
		// Btnode Sequence 'Sequence37_btn18' has been called 
		ignorep := fiacre_c_print_trace(196);
		btnode[Sequence37_btn18].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 197, trace level: 3
		// Btnode Sequence 'Sequence37_btn18' is being halted 
		ignorep := fiacre_c_print_trace(197);
		ignorep := fiacre_graphic_trace(20,ns_halt);
		if (btnode[goto_waypoint_btn19].rstatus = running) then
			// Trace index: 198, trace level: 4
			// Btnode Sequence 'Sequence37_btn18' halting Action 'goto_waypoint_btn19'
			ignorep := fiacre_c_print_trace(198);
			btnode[goto_waypoint_btn19].rstatus := halt_me;
			btnode[goto_waypoint_btn19].caller := caller_Sequence37_btn18;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn20].rstatus = running) then
			// Trace index: 199, trace level: 4
			// Btnode Sequence 'Sequence37_btn18' halting Action 'goto_waypoint_btn20'
			ignorep := fiacre_c_print_trace(199);
			btnode[goto_waypoint_btn20].rstatus := halt_me;
			btnode[goto_waypoint_btn20].caller := caller_Sequence37_btn18;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn21].rstatus = running) then
			// Trace index: 200, trace level: 4
			// Btnode Sequence 'Sequence37_btn18' halting Action 'goto_waypoint_btn21'
			ignorep := fiacre_c_print_trace(200);
			btnode[goto_waypoint_btn21].rstatus := halt_me;
			btnode[goto_waypoint_btn21].caller := caller_Sequence37_btn18;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn22].rstatus = running) then
			// Trace index: 201, trace level: 4
			// Btnode Sequence 'Sequence37_btn18' halting Action 'goto_waypoint_btn22'
			ignorep := fiacre_c_print_trace(201);
			btnode[goto_waypoint_btn22].rstatus := halt_me;
			btnode[goto_waypoint_btn22].caller := caller_Sequence37_btn18;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn23].rstatus = running) then
			// Trace index: 202, trace level: 4
			// Btnode Sequence 'Sequence37_btn18' halting Action 'goto_waypoint_btn23'
			ignorep := fiacre_c_print_trace(202);
			btnode[goto_waypoint_btn23].rstatus := halt_me;
			btnode[goto_waypoint_btn23].caller := caller_Sequence37_btn18;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn24].rstatus = running) then
			// Trace index: 203, trace level: 4
			// Btnode Sequence 'Sequence37_btn18' halting Action 'goto_waypoint_btn24'
			ignorep := fiacre_c_print_trace(203);
			btnode[goto_waypoint_btn24].rstatus := halt_me;
			btnode[goto_waypoint_btn24].caller := caller_Sequence37_btn18;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[goto_waypoint_btn19].caller = None) and
			(btnode[goto_waypoint_btn20].caller = None) and
			(btnode[goto_waypoint_btn21].caller = None) and
			(btnode[goto_waypoint_btn22].caller = None) and
			(btnode[goto_waypoint_btn23].caller = None) and
			(btnode[goto_waypoint_btn24].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		if (next_seq = 1) then to goto_waypoint_btn19 end;
		if (next_seq = 2) then to goto_waypoint_btn20 end;
		if (next_seq = 3) then to goto_waypoint_btn21 end;
		if (next_seq = 4) then to goto_waypoint_btn22 end;
		if (next_seq = 5) then to goto_waypoint_btn23 end;
		if (next_seq = 6) then to goto_waypoint_btn24 end;
		to error

	from goto_waypoint_btn19
		wait [0,0];
		// Trace index: 204, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' calling Action 'goto_waypoint_btn19'
		ignorep := fiacre_c_print_trace(204);
		btnode[goto_waypoint_btn19].caller := caller_Sequence37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to goto_waypoint_btn19_done

	from goto_waypoint_btn19_done
		wait [0,0];
		on (btnode[goto_waypoint_btn19].caller = None);
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		// Trace index: 205, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' getting control back from Action 'goto_waypoint_btn19'
		ignorep := fiacre_c_print_trace(205);
		if (btnode[goto_waypoint_btn19].rstatus = success) then
			to goto_waypoint_btn20
		elsif (btnode[goto_waypoint_btn19].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn19].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from goto_waypoint_btn20
		wait [0,0];
		// Trace index: 206, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' calling Action 'goto_waypoint_btn20'
		ignorep := fiacre_c_print_trace(206);
		btnode[goto_waypoint_btn20].caller := caller_Sequence37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to goto_waypoint_btn20_done

	from goto_waypoint_btn20_done
		wait [0,0];
		on (btnode[goto_waypoint_btn20].caller = None);
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		// Trace index: 207, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' getting control back from Action 'goto_waypoint_btn20'
		ignorep := fiacre_c_print_trace(207);
		if (btnode[goto_waypoint_btn20].rstatus = success) then
			to goto_waypoint_btn21
		elsif (btnode[goto_waypoint_btn20].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn20].rstatus = running) then
			next_seq := 2;
			to running
		else
			to error
		end

	from goto_waypoint_btn21
		wait [0,0];
		// Trace index: 208, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' calling Action 'goto_waypoint_btn21'
		ignorep := fiacre_c_print_trace(208);
		btnode[goto_waypoint_btn21].caller := caller_Sequence37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to goto_waypoint_btn21_done

	from goto_waypoint_btn21_done
		wait [0,0];
		on (btnode[goto_waypoint_btn21].caller = None);
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		// Trace index: 209, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' getting control back from Action 'goto_waypoint_btn21'
		ignorep := fiacre_c_print_trace(209);
		if (btnode[goto_waypoint_btn21].rstatus = success) then
			to goto_waypoint_btn22
		elsif (btnode[goto_waypoint_btn21].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn21].rstatus = running) then
			next_seq := 3;
			to running
		else
			to error
		end

	from goto_waypoint_btn22
		wait [0,0];
		// Trace index: 210, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' calling Action 'goto_waypoint_btn22'
		ignorep := fiacre_c_print_trace(210);
		btnode[goto_waypoint_btn22].caller := caller_Sequence37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to goto_waypoint_btn22_done

	from goto_waypoint_btn22_done
		wait [0,0];
		on (btnode[goto_waypoint_btn22].caller = None);
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		// Trace index: 211, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' getting control back from Action 'goto_waypoint_btn22'
		ignorep := fiacre_c_print_trace(211);
		if (btnode[goto_waypoint_btn22].rstatus = success) then
			to goto_waypoint_btn23
		elsif (btnode[goto_waypoint_btn22].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn22].rstatus = running) then
			next_seq := 4;
			to running
		else
			to error
		end

	from goto_waypoint_btn23
		wait [0,0];
		// Trace index: 212, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' calling Action 'goto_waypoint_btn23'
		ignorep := fiacre_c_print_trace(212);
		btnode[goto_waypoint_btn23].caller := caller_Sequence37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to goto_waypoint_btn23_done

	from goto_waypoint_btn23_done
		wait [0,0];
		on (btnode[goto_waypoint_btn23].caller = None);
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		// Trace index: 213, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' getting control back from Action 'goto_waypoint_btn23'
		ignorep := fiacre_c_print_trace(213);
		if (btnode[goto_waypoint_btn23].rstatus = success) then
			to goto_waypoint_btn24
		elsif (btnode[goto_waypoint_btn23].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn23].rstatus = running) then
			next_seq := 5;
			to running
		else
			to error
		end

	from goto_waypoint_btn24
		wait [0,0];
		// Trace index: 214, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' calling Action 'goto_waypoint_btn24'
		ignorep := fiacre_c_print_trace(214);
		btnode[goto_waypoint_btn24].caller := caller_Sequence37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to goto_waypoint_btn24_done

	from goto_waypoint_btn24_done
		wait [0,0];
		on (btnode[goto_waypoint_btn24].caller = None);
		ignorep := fiacre_graphic_trace(20,ns_ticked);
		// Trace index: 215, trace level: 4
		// Btnode Sequence 'Sequence37_btn18' getting control back from Action 'goto_waypoint_btn24'
		ignorep := fiacre_c_print_trace(215);
		if (btnode[goto_waypoint_btn24].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[goto_waypoint_btn24].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn24].rstatus = running) then
			next_seq := 6;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 216, trace level: 2
		// Btnode Sequence 'Sequence37_btn18' returns success.
		ignorep := fiacre_c_print_trace(216);
		btnode[Sequence37_btn18].rstatus := success;
		ignorep := fiacre_graphic_trace(20,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 217, trace level: 2
			// Btnode Sequence 'Sequence37_btn18' returns halted failure.
			ignorep := fiacre_c_print_trace(217);
			ignorep := fiacre_graphic_trace(20,ns_halted);
			null
		else
			// Trace index: 218, trace level: 2
			// Btnode Sequence 'Sequence37_btn18' returns failure.
			ignorep := fiacre_c_print_trace(218);
			ignorep := fiacre_graphic_trace(20,ns_failure);
			null
		end;
		btnode[Sequence37_btn18].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 219, trace level: 2
		// Btnode Sequence 'Sequence37_btn18' has been halted.
		ignorep := fiacre_c_print_trace(219);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 220, trace level: 3
		// Btnode Sequence 'Sequence37_btn18' returns running.
		ignorep := fiacre_c_print_trace(220);
		ignorep := fiacre_graphic_trace(20,ns_running);
		btnode[Sequence37_btn18].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 221, trace level: 3
		// Btnode Sequence 'Sequence37_btn18' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(221);
		btnode[Sequence37_btn18].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Parallel33_btn16 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait,
		running, Parallel33_btn16_par, Parallel33_btn16_par_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		success_so_far: 0..2 := 0, failed_so_far: 0..2 := 0,
		runningb:bool := false,
		halt_called_by_me:bool := false,
		force_success:bool := false,
		report_halted:bool := false

	from start_
		wait [0,0];
		on (btnode[Parallel33_btn16].caller <> None);
		report_halted := false;
		if (btnode[Parallel33_btn16].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 222, trace level: 3
		// Btnode Parallel 'Parallel33_btn16' has been called 
		ignorep := fiacre_c_print_trace(222);
		btnode[Parallel33_btn16].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 223, trace level: 3
		// Btnode Parallel 'Parallel33_btn16' is being halted 
		ignorep := fiacre_c_print_trace(223);
		ignorep := fiacre_graphic_trace(18,ns_halt);
		if (btnode[camera_tracking_btn17].rstatus = running) then
			// Trace index: 224, trace level: 4
			// Btnode Parallel 'Parallel33_btn16' halting Action 'camera_tracking_btn17'
			ignorep := fiacre_c_print_trace(224);
			btnode[camera_tracking_btn17].rstatus := halt_me;
			btnode[camera_tracking_btn17].caller := caller_Parallel33_btn16
		end;
		if (btnode[Sequence37_btn18].rstatus = running) then
			// Trace index: 225, trace level: 4
			// Btnode Parallel 'Parallel33_btn16' halting Sequence 'Sequence37_btn18'
			ignorep := fiacre_c_print_trace(225);
			btnode[Sequence37_btn18].rstatus := halt_me;
			btnode[Sequence37_btn18].caller := caller_Parallel33_btn16
		end;
		to halt_wait

	from halt_wait
		on (
			(btnode[camera_tracking_btn17].caller = None) and
			(btnode[Sequence37_btn18].caller = None) and
			true);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(18,ns_ticked);
	to Parallel33_btn16_par

	from Parallel33_btn16_par
		wait [0,0];
		if (runningb) then
			if (btnode[camera_tracking_btn17].rstatus = running) then
				// Trace index: 226, trace level: 4
				// Btnode Parallel 'Parallel33_btn16' calling again Action 'camera_tracking_btn17'
				ignorep := fiacre_c_print_trace(226);
				btnode[camera_tracking_btn17].caller := caller_Parallel33_btn16
			end;
			if (btnode[Sequence37_btn18].rstatus = running) then
				// Trace index: 227, trace level: 4
				// Btnode Parallel 'Parallel33_btn16' calling again Sequence 'Sequence37_btn18'
				ignorep := fiacre_c_print_trace(227);
				btnode[Sequence37_btn18].caller := caller_Parallel33_btn16
			end;
			null
		else
			// Trace index: 228, trace level: 4
			// Btnode Parallel 'Parallel33_btn16' calling Action 'camera_tracking_btn17'
			ignorep := fiacre_c_print_trace(228);
			btnode[camera_tracking_btn17].caller := caller_Parallel33_btn16;
			// Trace index: 229, trace level: 4
			// Btnode Parallel 'Parallel33_btn16' calling Sequence 'Sequence37_btn18'
			ignorep := fiacre_c_print_trace(229);
			btnode[Sequence37_btn18].caller := caller_Parallel33_btn16;
			null
		end;
		ignorep := fiacre_graphic_trace(18,ns_tick_passed);
		to Parallel33_btn16_par_done

	from Parallel33_btn16_par_done
		wait [0,0];
		on (
			(btnode[camera_tracking_btn17].caller = None) and
			(btnode[Sequence37_btn18].caller = None) and
			true);
		ignorep := fiacre_graphic_trace(18,ns_ticked);
		// Trace index: 230, trace level: 4
		// Btnode Parallel 'Parallel33_btn16' getting control back from Action 'camera_tracking_btn17'
		ignorep := fiacre_c_print_trace(230);
		// Trace index: 231, trace level: 4
		// Btnode Parallel 'Parallel33_btn16' getting control back from Sequence 'Sequence37_btn18'
		ignorep := fiacre_c_print_trace(231);
		success_so_far := 0; failed_so_far := 0;
		if (btnode[camera_tracking_btn17].rstatus = success) then success_so_far := success_so_far + 1
		elsif (btnode[camera_tracking_btn17].rstatus = failure) then failed_so_far := failed_so_far + 1 end; 
		if (btnode[Sequence37_btn18].rstatus = success) then success_so_far := success_so_far + 1
		elsif (btnode[Sequence37_btn18].rstatus = failure) then failed_so_far := failed_so_far + 1 end; 
		if (success_so_far >= 1) then
			// Trace index: 232, trace level: 3
			// Btnode Parallel 'Parallel33_btn16' has enough success: >= 1
			ignorep := fiacre_c_print_trace(232);
			halt_called_by_me := true;
			force_success := true;
			to halt
		elsif (failed_so_far > 1) then
			// Trace index: 233, trace level: 3
			// Btnode Parallel 'Parallel33_btn16' has too many failure(s): > 1
			ignorep := fiacre_c_print_trace(233);
			to failure
		else
			runningb := true;
			to running
		end

	from success
		wait [0,0];
		// Trace index: 234, trace level: 2
		// Btnode Parallel 'Parallel33_btn16' returns success.
		ignorep := fiacre_c_print_trace(234);
		btnode[Parallel33_btn16].rstatus := success;
		ignorep := fiacre_graphic_trace(18,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 235, trace level: 2
			// Btnode Parallel 'Parallel33_btn16' returns halted failure.
			ignorep := fiacre_c_print_trace(235);
			ignorep := fiacre_graphic_trace(18,ns_halted);
			null
		else
			// Trace index: 236, trace level: 2
			// Btnode Parallel 'Parallel33_btn16' returns failure.
			ignorep := fiacre_c_print_trace(236);
			ignorep := fiacre_graphic_trace(18,ns_failure);
			null
		end;
		btnode[Parallel33_btn16].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 237, trace level: 2
		// Btnode Parallel 'Parallel33_btn16' has been halted.
		ignorep := fiacre_c_print_trace(237);
		if (halt_called_by_me) then
			if (force_success) then
				to success
			else
				to failure
			end
		else
			report_halted := true;
			to failure
		end

	from running
		wait [0,0];
		// Trace index: 238, trace level: 3
		// Btnode Parallel 'Parallel33_btn16' returns running.
		ignorep := fiacre_c_print_trace(238);
		ignorep := fiacre_graphic_trace(18,ns_running);
		btnode[Parallel33_btn16].rstatus := running;
		to done

	from done
		wait [0,0];
		halt_called_by_me := false;
		force_success := false;
		// Trace index: 239, trace level: 3
		// Btnode Parallel 'Parallel33_btn16' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(239);
		btnode[Parallel33_btn16].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn25 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_goto_waypoint, dispatch, Action_goto_waypoint_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[goto_waypoint_btn25].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn25].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 240, trace level: 3
		// Btnode Action 'goto_waypoint_btn25' has been called (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(240);
		btnode[goto_waypoint_btn25].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 241, trace level: 3
		// Btnode Action 'goto_waypoint_btn25' is being halted (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(241);
		ignorep := fiacre_graphic_trace(27,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn25]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  8
		btnode[goto_waypoint_btn25].ArgIndex := 8;
		// Trace index: 242, trace level: 3
		// Btnode Action 'goto_waypoint_btn25' calling its action (start task)
		ignorep := fiacre_c_print_trace(242);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn25]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 243, trace level: 3
		// Btnode Action 'goto_waypoint_btn25' returned (sync task)
		ignorep := fiacre_c_print_trace(243);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 244, trace level: 2
		// Btnode Action 'goto_waypoint_btn25' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(244);
		btnode[goto_waypoint_btn25].rstatus := success;
		ignorep := fiacre_graphic_trace(27,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 245, trace level: 2
			// Btnode Action 'goto_waypoint_btn25' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(245);
			ignorep := fiacre_graphic_trace(27,ns_halted);
			null
		else
			// Trace index: 246, trace level: 2
			// Btnode Action 'goto_waypoint_btn25' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(246);
			ignorep := fiacre_graphic_trace(27,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn25].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 247, trace level: 2
		// Btnode Action 'goto_waypoint_btn25' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(247);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 248, trace level: 3
		// Btnode Action 'goto_waypoint_btn25' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(248);
		ignorep := fiacre_graphic_trace(27,ns_running);
		btnode[goto_waypoint_btn25].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 249, trace level: 3
		// Btnode Action 'goto_waypoint_btn25' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(249);
		btnode[goto_waypoint_btn25].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_land_btn26 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_land, dispatch, Action_land_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[land_btn26].caller <> None);
		report_halted := false;
		if (btnode[land_btn26].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 250, trace level: 3
		// Btnode Action 'land_btn26' has been called 
		ignorep := fiacre_c_print_trace(250);
		btnode[land_btn26].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 251, trace level: 3
		// Btnode Action 'land_btn26' is being halted 
		ignorep := fiacre_c_print_trace(251);
		ignorep := fiacre_graphic_trace(28,ns_halt);
		ignoreb := Fiacre_Action_land_halt (btnode[land_btn26]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(28,ns_ticked);
		to Action_land

	from Action_land
		// Trace index: 252, trace level: 3
		// Btnode Action 'land_btn26' calling its action (start task)
		ignorep := fiacre_c_print_trace(252);
		start Fiacre_Action_land_task (btnode[land_btn26]);
	to Action_land_sync

	from Action_land_sync
		sync Fiacre_Action_land_task ret_val;
		// Trace index: 253, trace level: 3
		// Btnode Action 'land_btn26' returned (sync task)
		ignorep := fiacre_c_print_trace(253);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 254, trace level: 2
		// Btnode Action 'land_btn26' returns success.
		ignorep := fiacre_c_print_trace(254);
		btnode[land_btn26].rstatus := success;
		ignorep := fiacre_graphic_trace(28,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 255, trace level: 2
			// Btnode Action 'land_btn26' returns halted failure.
			ignorep := fiacre_c_print_trace(255);
			ignorep := fiacre_graphic_trace(28,ns_halted);
			null
		else
			// Trace index: 256, trace level: 2
			// Btnode Action 'land_btn26' returns failure.
			ignorep := fiacre_c_print_trace(256);
			ignorep := fiacre_graphic_trace(28,ns_failure);
			null
		end;
		btnode[land_btn26].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 257, trace level: 2
		// Btnode Action 'land_btn26' has been halted.
		ignorep := fiacre_c_print_trace(257);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 258, trace level: 3
		// Btnode Action 'land_btn26' returns running.
		ignorep := fiacre_c_print_trace(258);
		ignorep := fiacre_graphic_trace(28,ns_running);
		btnode[land_btn26].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 259, trace level: 3
		// Btnode Action 'land_btn26' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(259);
		btnode[land_btn26].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_shutdown_drone_btn27 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Action_shutdown_drone, dispatch, Action_shutdown_drone_sync,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false, ret_val: ret_status

	from start_
		wait [0,0];
		on (btnode[shutdown_drone_btn27].caller <> None);
		report_halted := false;
		if (btnode[shutdown_drone_btn27].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 260, trace level: 3
		// Btnode Action 'shutdown_drone_btn27' has been called 
		ignorep := fiacre_c_print_trace(260);
		btnode[shutdown_drone_btn27].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 261, trace level: 3
		// Btnode Action 'shutdown_drone_btn27' is being halted 
		ignorep := fiacre_c_print_trace(261);
		ignorep := fiacre_graphic_trace(29,ns_halt);
		ignoreb := Fiacre_Action_shutdown_drone_halt (btnode[shutdown_drone_btn27]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(29,ns_ticked);
		to Action_shutdown_drone

	from Action_shutdown_drone
		// Trace index: 262, trace level: 3
		// Btnode Action 'shutdown_drone_btn27' calling its action (start task)
		ignorep := fiacre_c_print_trace(262);
		start Fiacre_Action_shutdown_drone_task (btnode[shutdown_drone_btn27]);
	to Action_shutdown_drone_sync

	from Action_shutdown_drone_sync
		sync Fiacre_Action_shutdown_drone_task ret_val;
		// Trace index: 263, trace level: 3
		// Btnode Action 'shutdown_drone_btn27' returned (sync task)
		ignorep := fiacre_c_print_trace(263);
		to dispatch

	from dispatch
		wait [0,0];
		if (ret_val = success) then
			to success
		elsif (ret_val = failure) then
			to failure
		elsif (ret_val = running) then
			to running
		else
			to error // a priori unreachable
		end

	from success
		wait [0,0];
		// Trace index: 264, trace level: 2
		// Btnode Action 'shutdown_drone_btn27' returns success.
		ignorep := fiacre_c_print_trace(264);
		btnode[shutdown_drone_btn27].rstatus := success;
		ignorep := fiacre_graphic_trace(29,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 265, trace level: 2
			// Btnode Action 'shutdown_drone_btn27' returns halted failure.
			ignorep := fiacre_c_print_trace(265);
			ignorep := fiacre_graphic_trace(29,ns_halted);
			null
		else
			// Trace index: 266, trace level: 2
			// Btnode Action 'shutdown_drone_btn27' returns failure.
			ignorep := fiacre_c_print_trace(266);
			ignorep := fiacre_graphic_trace(29,ns_failure);
			null
		end;
		btnode[shutdown_drone_btn27].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 267, trace level: 2
		// Btnode Action 'shutdown_drone_btn27' has been halted.
		ignorep := fiacre_c_print_trace(267);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 268, trace level: 3
		// Btnode Action 'shutdown_drone_btn27' returns running.
		ignorep := fiacre_c_print_trace(268);
		ignorep := fiacre_graphic_trace(29,ns_running);
		btnode[shutdown_drone_btn27].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 269, trace level: 3
		// Btnode Action 'shutdown_drone_btn27' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(269);
		btnode[shutdown_drone_btn27].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Sequence29_btn14 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		takeoff_btn15, takeoff_btn15_done,
		Parallel33_btn16, Parallel33_btn16_done,
		goto_waypoint_btn25, goto_waypoint_btn25_done,
		land_btn26, land_btn26_done,
		shutdown_drone_btn27, shutdown_drone_btn27_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false,
		next_seq: 1..6 := 1

	from start_
		wait [0,0];
		on (btnode[Sequence29_btn14].caller <> None);
		report_halted := false;
		if (btnode[Sequence29_btn14].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 270, trace level: 3
		// Btnode Sequence 'Sequence29_btn14' has been called 
		ignorep := fiacre_c_print_trace(270);
		btnode[Sequence29_btn14].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 271, trace level: 3
		// Btnode Sequence 'Sequence29_btn14' is being halted 
		ignorep := fiacre_c_print_trace(271);
		ignorep := fiacre_graphic_trace(16,ns_halt);
		if (btnode[takeoff_btn15].rstatus = running) then
			// Trace index: 272, trace level: 4
			// Btnode Sequence 'Sequence29_btn14' halting Action 'takeoff_btn15'
			ignorep := fiacre_c_print_trace(272);
			btnode[takeoff_btn15].rstatus := halt_me;
			btnode[takeoff_btn15].caller := caller_Sequence29_btn14;
			to halt_wait
		end;
		if (btnode[Parallel33_btn16].rstatus = running) then
			// Trace index: 273, trace level: 4
			// Btnode Sequence 'Sequence29_btn14' halting Parallel 'Parallel33_btn16'
			ignorep := fiacre_c_print_trace(273);
			btnode[Parallel33_btn16].rstatus := halt_me;
			btnode[Parallel33_btn16].caller := caller_Sequence29_btn14;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn25].rstatus = running) then
			// Trace index: 274, trace level: 4
			// Btnode Sequence 'Sequence29_btn14' halting Action 'goto_waypoint_btn25'
			ignorep := fiacre_c_print_trace(274);
			btnode[goto_waypoint_btn25].rstatus := halt_me;
			btnode[goto_waypoint_btn25].caller := caller_Sequence29_btn14;
			to halt_wait
		end;
		if (btnode[land_btn26].rstatus = running) then
			// Trace index: 275, trace level: 4
			// Btnode Sequence 'Sequence29_btn14' halting Action 'land_btn26'
			ignorep := fiacre_c_print_trace(275);
			btnode[land_btn26].rstatus := halt_me;
			btnode[land_btn26].caller := caller_Sequence29_btn14;
			to halt_wait
		end;
		if (btnode[shutdown_drone_btn27].rstatus = running) then
			// Trace index: 276, trace level: 4
			// Btnode Sequence 'Sequence29_btn14' halting Action 'shutdown_drone_btn27'
			ignorep := fiacre_c_print_trace(276);
			btnode[shutdown_drone_btn27].rstatus := halt_me;
			btnode[shutdown_drone_btn27].caller := caller_Sequence29_btn14;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[takeoff_btn15].caller = None) and
			(btnode[Parallel33_btn16].caller = None) and
			(btnode[goto_waypoint_btn25].caller = None) and
			(btnode[land_btn26].caller = None) and
			(btnode[shutdown_drone_btn27].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		if (next_seq = 1) then to takeoff_btn15 end;
		if (next_seq = 2) then to Parallel33_btn16 end;
		if (next_seq = 3) then to goto_waypoint_btn25 end;
		if (next_seq = 4) then to land_btn26 end;
		if (next_seq = 5) then to shutdown_drone_btn27 end;
		to error

	from takeoff_btn15
		wait [0,0];
		// Trace index: 277, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' calling Action 'takeoff_btn15'
		ignorep := fiacre_c_print_trace(277);
		btnode[takeoff_btn15].caller := caller_Sequence29_btn14;
		ignorep := fiacre_graphic_trace(16,ns_tick_passed);
		to takeoff_btn15_done

	from takeoff_btn15_done
		wait [0,0];
		on (btnode[takeoff_btn15].caller = None);
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		// Trace index: 278, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' getting control back from Action 'takeoff_btn15'
		ignorep := fiacre_c_print_trace(278);
		if (btnode[takeoff_btn15].rstatus = success) then
			to Parallel33_btn16
		elsif (btnode[takeoff_btn15].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[takeoff_btn15].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Parallel33_btn16
		wait [0,0];
		// Trace index: 279, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' calling Parallel 'Parallel33_btn16'
		ignorep := fiacre_c_print_trace(279);
		btnode[Parallel33_btn16].caller := caller_Sequence29_btn14;
		ignorep := fiacre_graphic_trace(16,ns_tick_passed);
		to Parallel33_btn16_done

	from Parallel33_btn16_done
		wait [0,0];
		on (btnode[Parallel33_btn16].caller = None);
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		// Trace index: 280, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' getting control back from Parallel 'Parallel33_btn16'
		ignorep := fiacre_c_print_trace(280);
		if (btnode[Parallel33_btn16].rstatus = success) then
			to goto_waypoint_btn25
		elsif (btnode[Parallel33_btn16].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Parallel33_btn16].rstatus = running) then
			next_seq := 2;
			to running
		else
			to error
		end

	from goto_waypoint_btn25
		wait [0,0];
		// Trace index: 281, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' calling Action 'goto_waypoint_btn25'
		ignorep := fiacre_c_print_trace(281);
		btnode[goto_waypoint_btn25].caller := caller_Sequence29_btn14;
		ignorep := fiacre_graphic_trace(16,ns_tick_passed);
		to goto_waypoint_btn25_done

	from goto_waypoint_btn25_done
		wait [0,0];
		on (btnode[goto_waypoint_btn25].caller = None);
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		// Trace index: 282, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' getting control back from Action 'goto_waypoint_btn25'
		ignorep := fiacre_c_print_trace(282);
		if (btnode[goto_waypoint_btn25].rstatus = success) then
			to land_btn26
		elsif (btnode[goto_waypoint_btn25].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn25].rstatus = running) then
			next_seq := 3;
			to running
		else
			to error
		end

	from land_btn26
		wait [0,0];
		// Trace index: 283, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' calling Action 'land_btn26'
		ignorep := fiacre_c_print_trace(283);
		btnode[land_btn26].caller := caller_Sequence29_btn14;
		ignorep := fiacre_graphic_trace(16,ns_tick_passed);
		to land_btn26_done

	from land_btn26_done
		wait [0,0];
		on (btnode[land_btn26].caller = None);
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		// Trace index: 284, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' getting control back from Action 'land_btn26'
		ignorep := fiacre_c_print_trace(284);
		if (btnode[land_btn26].rstatus = success) then
			to shutdown_drone_btn27
		elsif (btnode[land_btn26].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[land_btn26].rstatus = running) then
			next_seq := 4;
			to running
		else
			to error
		end

	from shutdown_drone_btn27
		wait [0,0];
		// Trace index: 285, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' calling Action 'shutdown_drone_btn27'
		ignorep := fiacre_c_print_trace(285);
		btnode[shutdown_drone_btn27].caller := caller_Sequence29_btn14;
		ignorep := fiacre_graphic_trace(16,ns_tick_passed);
		to shutdown_drone_btn27_done

	from shutdown_drone_btn27_done
		wait [0,0];
		on (btnode[shutdown_drone_btn27].caller = None);
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		// Trace index: 286, trace level: 4
		// Btnode Sequence 'Sequence29_btn14' getting control back from Action 'shutdown_drone_btn27'
		ignorep := fiacre_c_print_trace(286);
		if (btnode[shutdown_drone_btn27].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[shutdown_drone_btn27].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[shutdown_drone_btn27].rstatus = running) then
			next_seq := 5;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 287, trace level: 2
		// Btnode Sequence 'Sequence29_btn14' returns success.
		ignorep := fiacre_c_print_trace(287);
		btnode[Sequence29_btn14].rstatus := success;
		ignorep := fiacre_graphic_trace(16,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 288, trace level: 2
			// Btnode Sequence 'Sequence29_btn14' returns halted failure.
			ignorep := fiacre_c_print_trace(288);
			ignorep := fiacre_graphic_trace(16,ns_halted);
			null
		else
			// Trace index: 289, trace level: 2
			// Btnode Sequence 'Sequence29_btn14' returns failure.
			ignorep := fiacre_c_print_trace(289);
			ignorep := fiacre_graphic_trace(16,ns_failure);
			null
		end;
		btnode[Sequence29_btn14].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 290, trace level: 2
		// Btnode Sequence 'Sequence29_btn14' has been halted.
		ignorep := fiacre_c_print_trace(290);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 291, trace level: 3
		// Btnode Sequence 'Sequence29_btn14' returns running.
		ignorep := fiacre_c_print_trace(291);
		ignorep := fiacre_graphic_trace(16,ns_running);
		btnode[Sequence29_btn14].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 292, trace level: 3
		// Btnode Sequence 'Sequence29_btn14' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(292);
		btnode[Sequence29_btn14].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_ReactiveSequence11_btn5 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		Fallback13_btn6, Fallback13_btn6_done,
		Fallback21_btn10, Fallback21_btn10_done,
		Sequence29_btn14, Sequence29_btn14_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		runningb:bool := false,
		halt_called_by_me:bool := false,
		force_success:bool := false,
		report_halted:bool := false,
		next_seq: 1..4 := 1

	from start_
		wait [0,0];
		on (btnode[ReactiveSequence11_btn5].caller <> None);
		report_halted := false;
		if (btnode[ReactiveSequence11_btn5].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 293, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' has been called 
		ignorep := fiacre_c_print_trace(293);
		btnode[ReactiveSequence11_btn5].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 294, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' is being halted 
		ignorep := fiacre_c_print_trace(294);
		ignorep := fiacre_graphic_trace(7,ns_halt);
		if (btnode[Fallback13_btn6].rstatus = running) then
			// Trace index: 295, trace level: 4
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' halting Fallback 'Fallback13_btn6'
			ignorep := fiacre_c_print_trace(295);
			btnode[Fallback13_btn6].rstatus := halt_me;
			btnode[Fallback13_btn6].caller := caller_ReactiveSequence11_btn5;
			to halt_wait
		end;
		if (btnode[Fallback21_btn10].rstatus = running) then
			// Trace index: 296, trace level: 4
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' halting Fallback 'Fallback21_btn10'
			ignorep := fiacre_c_print_trace(296);
			btnode[Fallback21_btn10].rstatus := halt_me;
			btnode[Fallback21_btn10].caller := caller_ReactiveSequence11_btn5;
			to halt_wait
		end;
		if (btnode[Sequence29_btn14].rstatus = running) then
			// Trace index: 297, trace level: 4
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' halting Sequence 'Sequence29_btn14'
			ignorep := fiacre_c_print_trace(297);
			btnode[Sequence29_btn14].rstatus := halt_me;
			btnode[Sequence29_btn14].caller := caller_ReactiveSequence11_btn5;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[Fallback13_btn6].caller = None) and
			(btnode[Fallback21_btn10].caller = None) and
			(btnode[Sequence29_btn14].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		if (next_seq = 1) then to Fallback13_btn6 end;
		if (next_seq = 2) then to Fallback21_btn10 end;
		if (next_seq = 3) then to Sequence29_btn14 end;
		to error

	from Fallback13_btn6
		wait [0,0];
		// Trace index: 298, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' calling Fallback 'Fallback13_btn6'
		ignorep := fiacre_c_print_trace(298);
		btnode[Fallback13_btn6].caller := caller_ReactiveSequence11_btn5;
		ignorep := fiacre_graphic_trace(7,ns_tick_passed);
		to Fallback13_btn6_done

	from Fallback13_btn6_done
		wait [0,0];
		on (btnode[Fallback13_btn6].caller = None);
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		// Trace index: 299, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' getting control back from Fallback 'Fallback13_btn6'
		ignorep := fiacre_c_print_trace(299);
		if (btnode[Fallback13_btn6].rstatus = success) then
			to Fallback21_btn10
		elsif (btnode[Fallback13_btn6].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Fallback13_btn6].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Fallback21_btn10
		wait [0,0];
		// Trace index: 300, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' calling Fallback 'Fallback21_btn10'
		ignorep := fiacre_c_print_trace(300);
		btnode[Fallback21_btn10].caller := caller_ReactiveSequence11_btn5;
		ignorep := fiacre_graphic_trace(7,ns_tick_passed);
		to Fallback21_btn10_done

	from Fallback21_btn10_done
		wait [0,0];
		on (btnode[Fallback21_btn10].caller = None);
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		// Trace index: 301, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' getting control back from Fallback 'Fallback21_btn10'
		ignorep := fiacre_c_print_trace(301);
		if (btnode[Fallback21_btn10].rstatus = success) then
			to Sequence29_btn14
		elsif (btnode[Fallback21_btn10].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Fallback21_btn10].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Sequence29_btn14
		wait [0,0];
		// Trace index: 302, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' calling Sequence 'Sequence29_btn14'
		ignorep := fiacre_c_print_trace(302);
		btnode[Sequence29_btn14].caller := caller_ReactiveSequence11_btn5;
		ignorep := fiacre_graphic_trace(7,ns_tick_passed);
		to Sequence29_btn14_done

	from Sequence29_btn14_done
		wait [0,0];
		on (btnode[Sequence29_btn14].caller = None);
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		// Trace index: 303, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' getting control back from Sequence 'Sequence29_btn14'
		ignorep := fiacre_c_print_trace(303);
		if (btnode[Sequence29_btn14].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[Sequence29_btn14].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Sequence29_btn14].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 304, trace level: 2
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns success.
		ignorep := fiacre_c_print_trace(304);
		btnode[ReactiveSequence11_btn5].rstatus := success;
		ignorep := fiacre_graphic_trace(7,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 305, trace level: 2
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns halted failure.
			ignorep := fiacre_c_print_trace(305);
			ignorep := fiacre_graphic_trace(7,ns_halted);
			null
		else
			// Trace index: 306, trace level: 2
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns failure.
			ignorep := fiacre_c_print_trace(306);
			ignorep := fiacre_graphic_trace(7,ns_failure);
			null
		end;
		btnode[ReactiveSequence11_btn5].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 307, trace level: 2
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' has been halted.
		ignorep := fiacre_c_print_trace(307);
		next_seq := 1;
		if (halt_called_by_me) then
			if (force_success) then
				to success
			else
				to failure
			end
		else
			report_halted := true;
			to failure
		end

	from running
		wait [0,0];
		// Trace index: 308, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns running.
		ignorep := fiacre_c_print_trace(308);
		ignorep := fiacre_graphic_trace(7,ns_running);
		btnode[ReactiveSequence11_btn5].rstatus := running;
		to done

	from done
		wait [0,0];
		halt_called_by_me := false;
		force_success := false;
		// Trace index: 309, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(309);
		btnode[ReactiveSequence11_btn5].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Sequence3_btn1 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		ParallelAll5_btn2, ParallelAll5_btn2_done,
		ReactiveSequence11_btn5, ReactiveSequence11_btn5_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false,
		next_seq: 1..3 := 1

	from start_
		wait [0,0];
		on (btnode[Sequence3_btn1].caller <> None);
		report_halted := false;
		if (btnode[Sequence3_btn1].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 310, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' has been called 
		ignorep := fiacre_c_print_trace(310);
		btnode[Sequence3_btn1].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 311, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' is being halted 
		ignorep := fiacre_c_print_trace(311);
		ignorep := fiacre_graphic_trace(3,ns_halt);
		if (btnode[ParallelAll5_btn2].rstatus = running) then
			// Trace index: 312, trace level: 4
			// Btnode Sequence 'Sequence3_btn1' halting ParallelAll 'ParallelAll5_btn2'
			ignorep := fiacre_c_print_trace(312);
			btnode[ParallelAll5_btn2].rstatus := halt_me;
			btnode[ParallelAll5_btn2].caller := caller_Sequence3_btn1;
			to halt_wait
		end;
		if (btnode[ReactiveSequence11_btn5].rstatus = running) then
			// Trace index: 313, trace level: 4
			// Btnode Sequence 'Sequence3_btn1' halting ReactiveSequence 'ReactiveSequence11_btn5'
			ignorep := fiacre_c_print_trace(313);
			btnode[ReactiveSequence11_btn5].rstatus := halt_me;
			btnode[ReactiveSequence11_btn5].caller := caller_Sequence3_btn1;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[ParallelAll5_btn2].caller = None) and
			(btnode[ReactiveSequence11_btn5].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(3,ns_ticked);
		if (next_seq = 1) then to ParallelAll5_btn2 end;
		if (next_seq = 2) then to ReactiveSequence11_btn5 end;
		to error

	from ParallelAll5_btn2
		wait [0,0];
		// Trace index: 314, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' calling ParallelAll 'ParallelAll5_btn2'
		ignorep := fiacre_c_print_trace(314);
		btnode[ParallelAll5_btn2].caller := caller_Sequence3_btn1;
		ignorep := fiacre_graphic_trace(3,ns_tick_passed);
		to ParallelAll5_btn2_done

	from ParallelAll5_btn2_done
		wait [0,0];
		on (btnode[ParallelAll5_btn2].caller = None);
		ignorep := fiacre_graphic_trace(3,ns_ticked);
		// Trace index: 315, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' getting control back from ParallelAll 'ParallelAll5_btn2'
		ignorep := fiacre_c_print_trace(315);
		if (btnode[ParallelAll5_btn2].rstatus = success) then
			to ReactiveSequence11_btn5
		elsif (btnode[ParallelAll5_btn2].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[ParallelAll5_btn2].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from ReactiveSequence11_btn5
		wait [0,0];
		// Trace index: 316, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' calling ReactiveSequence 'ReactiveSequence11_btn5'
		ignorep := fiacre_c_print_trace(316);
		btnode[ReactiveSequence11_btn5].caller := caller_Sequence3_btn1;
		ignorep := fiacre_graphic_trace(3,ns_tick_passed);
		to ReactiveSequence11_btn5_done

	from ReactiveSequence11_btn5_done
		wait [0,0];
		on (btnode[ReactiveSequence11_btn5].caller = None);
		ignorep := fiacre_graphic_trace(3,ns_ticked);
		// Trace index: 317, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' getting control back from ReactiveSequence 'ReactiveSequence11_btn5'
		ignorep := fiacre_c_print_trace(317);
		if (btnode[ReactiveSequence11_btn5].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[ReactiveSequence11_btn5].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[ReactiveSequence11_btn5].rstatus = running) then
			next_seq := 2;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 318, trace level: 2
		// Btnode Sequence 'Sequence3_btn1' returns success.
		ignorep := fiacre_c_print_trace(318);
		btnode[Sequence3_btn1].rstatus := success;
		ignorep := fiacre_graphic_trace(3,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 319, trace level: 2
			// Btnode Sequence 'Sequence3_btn1' returns halted failure.
			ignorep := fiacre_c_print_trace(319);
			ignorep := fiacre_graphic_trace(3,ns_halted);
			null
		else
			// Trace index: 320, trace level: 2
			// Btnode Sequence 'Sequence3_btn1' returns failure.
			ignorep := fiacre_c_print_trace(320);
			ignorep := fiacre_graphic_trace(3,ns_failure);
			null
		end;
		btnode[Sequence3_btn1].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 321, trace level: 2
		// Btnode Sequence 'Sequence3_btn1' has been halted.
		ignorep := fiacre_c_print_trace(321);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 322, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' returns running.
		ignorep := fiacre_c_print_trace(322);
		ignorep := fiacre_graphic_trace(3,ns_running);
		btnode[Sequence3_btn1].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 323, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(323);
		btnode[Sequence3_btn1].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_BehaviorTree1_drone (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, running, error,
		Sequence3_btn1, Sequence3_btn1_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false

	from start_
		wait [0,0];
		on (btnode[BehaviorTree1_drone].caller <> None);
		report_halted := false;
		if (btnode[BehaviorTree1_drone].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 324, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' has been called 
		ignorep := fiacre_c_print_trace(324);
		btnode[BehaviorTree1_drone].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 325, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' is being halted 
		ignorep := fiacre_c_print_trace(325);
		ignorep := fiacre_graphic_trace(2,ns_halt);
	to halted

	from tick_node
		wait [1,1];
		ignorep := fiacre_graphic_trace(2,ns_ticked);
	to Sequence3_btn1

	from Sequence3_btn1
		wait [0,0];
		// Trace index: 326, trace level: 4
		// Btnode BehaviorTree 'BehaviorTree1_drone' calling Sequence 'Sequence3_btn1'
		ignorep := fiacre_c_print_trace(326);
		btnode[Sequence3_btn1].caller := caller_BehaviorTree1_drone;
		ignorep := fiacre_graphic_trace(2,ns_tick_passed);
		to Sequence3_btn1_done

	from Sequence3_btn1_done
		wait [0,0];
		on (btnode[Sequence3_btn1].caller = None);
		// Trace index: 327, trace level: 4
		// Btnode BehaviorTree 'BehaviorTree1_drone' getting control back from Sequence 'Sequence3_btn1'
		ignorep := fiacre_c_print_trace(327);
		if (btnode[Sequence3_btn1].rstatus = success) then
			to success
		elsif (btnode[Sequence3_btn1].rstatus = failure) then
			to failure
		elsif (btnode[Sequence3_btn1].rstatus = running) then
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 328, trace level: 2
		// Btnode BehaviorTree 'BehaviorTree1_drone' returns success.
		ignorep := fiacre_c_print_trace(328);
		btnode[BehaviorTree1_drone].rstatus := success;
		ignorep := fiacre_graphic_trace(2,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 329, trace level: 2
			// Btnode BehaviorTree 'BehaviorTree1_drone' returns halted failure.
			ignorep := fiacre_c_print_trace(329);
			ignorep := fiacre_graphic_trace(2,ns_halted);
			null
		else
			// Trace index: 330, trace level: 2
			// Btnode BehaviorTree 'BehaviorTree1_drone' returns failure.
			ignorep := fiacre_c_print_trace(330);
			ignorep := fiacre_graphic_trace(2,ns_failure);
			null
		end;
		btnode[BehaviorTree1_drone].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 331, trace level: 2
		// Btnode BehaviorTree 'BehaviorTree1_drone' has been halted.
		ignorep := fiacre_c_print_trace(331);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 332, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' returns running.
		ignorep := fiacre_c_print_trace(332);
		ignorep := fiacre_graphic_trace(2,ns_running);
		btnode[BehaviorTree1_drone].rstatus := running;
		to tick_node

	from done
		wait [0,0];
		// Trace index: 333, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(333);
		btnode[BehaviorTree1_drone].caller := None;
	to ether

component drone is
	var
		btnode: btnode_array := [
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = None, ArgIndex = 0, rstatus = no_ret_status}, 
			{caller = caller_BehaviorTree1_drone, ArgIndex = 0, rstatus = no_ret_status}]

par * in
// **** state variables processes ****
// **** btnode processes ****
   btnode_start_drone_btn3(&btnode)
|| btnode_start_camera_btn4(&btnode)
|| btnode_ParallelAll5_btn2(&btnode)
|| btnode_battery_ok_btn7(&btnode)
|| btnode_land_btn9(&btnode)
|| btnode_fail_btn8(&btnode)
|| btnode_Fallback13_btn6(&btnode)
|| btnode_localization_ok_btn11(&btnode)
|| btnode_land_btn13(&btnode)
|| btnode_fail_btn12(&btnode)
|| btnode_Fallback21_btn10(&btnode)
|| btnode_takeoff_btn15(&btnode)
|| btnode_camera_tracking_btn17(&btnode)
|| btnode_goto_waypoint_btn19(&btnode)
|| btnode_goto_waypoint_btn20(&btnode)
|| btnode_goto_waypoint_btn21(&btnode)
|| btnode_goto_waypoint_btn22(&btnode)
|| btnode_goto_waypoint_btn23(&btnode)
|| btnode_goto_waypoint_btn24(&btnode)
|| btnode_Sequence37_btn18(&btnode)
|| btnode_Parallel33_btn16(&btnode)
|| btnode_goto_waypoint_btn25(&btnode)
|| btnode_land_btn26(&btnode)
|| btnode_shutdown_drone_btn27(&btnode)
|| btnode_Sequence29_btn14(&btnode)
|| btnode_ReactiveSequence11_btn5(&btnode)
|| btnode_Sequence3_btn1(&btnode)
|| btnode_BehaviorTree1_drone(&btnode)
// **** end of the component ****

end


drone

/*End of File */