/*
 * 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_measure_battery_btn9
	| caller_ForceFailure17_btn8
	| caller_Eval21_btn10
	| caller_Fallback15_btn7
	| caller_Eval25_btn12
	| caller_Eval29_btn14
	| caller_Fallback27_btn13
	| caller_Sequence13_btn6
	| caller_ForceFailure37_btn18
	| caller_Fallback33_btn16
	| caller_Eval53_btn26
	| caller_Sequence51_btn25
	| caller_Repeat49_btn24
	| caller_Parallel45_btn22
	| caller_Sequence41_btn20
	| 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 measure_battery_btn9: 3..3 is 3
const ForceFailure17_btn8: 4..4 is 4
const Eval21_btn10: 5..5 is 5
const land_btn11: 6..6 is 6
const Fallback15_btn7: 7..7 is 7
const Eval25_btn12: 8..8 is 8
const Eval29_btn14: 9..9 is 9
const goto_waypoint_btn15: 10..10 is 10
const Fallback27_btn13: 11..11 is 11
const Sequence13_btn6: 12..12 is 12
const localization_ok_btn17: 13..13 is 13
const land_btn19: 14..14 is 14
const ForceFailure37_btn18: 15..15 is 15
const Fallback33_btn16: 16..16 is 16
const takeoff_btn21: 17..17 is 17
const camera_tracking_btn23: 18..18 is 18
const Eval53_btn26: 19..19 is 19
const goto_waypoint_btn27: 20..20 is 20
const goto_waypoint_btn28: 21..21 is 21
const goto_waypoint_btn29: 22..22 is 22
const goto_waypoint_btn30: 23..23 is 23
const goto_waypoint_btn31: 24..24 is 24
const goto_waypoint_btn32: 25..25 is 25
const Sequence51_btn25: 26..26 is 26
const Repeat49_btn24: 27..27 is 27
const Parallel45_btn22: 28..28 is 28
const goto_waypoint_btn33: 29..29 is 29
const land_btn34: 30..30 is 30
const shutdown_drone_btn35: 31..31 is 31
const Sequence41_btn20: 32..32 is 32
const ReactiveSequence11_btn5: 33..33 is 33
const Sequence3_btn1: 34..34 is 34
const BehaviorTree1_drone: 35..35 is 35

type btnode_array is array 36 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*/
type sv_fls is 0..3

/* state variable FSM types*/
type sv_battery is union
	  Good
	| Low
	| Critical
end


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

process sv_battery_automata (&battery:sv_battery) is

	states Good, Low , Critical 

	var ignorep: nat

	from Good
		wait [0,0];
		select
			on (battery = Low);
			// Trace index: 0, trace level: 4
			// State variable 'battery', from 'Good' to 'Low'.
			ignorep := fiacre_c_print_trace(0);
			to Low
		[]
			on (battery = Critical);
			// Trace index: 1, trace level: 4
			// State variable 'battery', from 'Good' to 'Critical'.
			ignorep := fiacre_c_print_trace(1);
			to Critical
		end

	from Low
		wait [0,0];
		select
			on (battery = Good);
			// Trace index: 2, trace level: 4
			// State variable 'battery', from 'Low' to 'Good'.
			ignorep := fiacre_c_print_trace(2);
			to Good
		[]
			on (battery = Critical);
			// Trace index: 3, trace level: 4
			// State variable 'battery', from 'Low' to 'Critical'.
			ignorep := fiacre_c_print_trace(3);
			to Critical
		end

	from Critical
		wait [0,0];
		select
			on (battery = Good);
			// Trace index: 4, trace level: 4
			// State variable 'battery', from 'Critical' to 'Good'.
			ignorep := fiacre_c_print_trace(4);
			to Good
		[]
			on (battery = Low);
			// Trace index: 5, trace level: 4
			// State variable 'battery', from 'Critical' to 'Low'.
			ignorep := fiacre_c_print_trace(5);
			to Low
		end

// 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_SetSV_measure_battery_extern () : sv_battery is
		Fiacre_SetSV_measure_battery_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
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
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_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, &fls: sv_fls, &battery: sv_battery) 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: 6, trace level: 3
		// Btnode Action 'start_drone_btn3' has been called 
		ignorep := fiacre_c_print_trace(6);
		btnode[start_drone_btn3].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 7, trace level: 3
		// Btnode Action 'start_drone_btn3' is being halted 
		ignorep := fiacre_c_print_trace(7);
		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: 8, trace level: 3
		// Btnode Action 'start_drone_btn3' calling its action (start task)
		ignorep := fiacre_c_print_trace(8);
		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: 9, trace level: 3
		// Btnode Action 'start_drone_btn3' returned (sync task)
		ignorep := fiacre_c_print_trace(9);
		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: 10, trace level: 2
		// Btnode Action 'start_drone_btn3' returns success.
		ignorep := fiacre_c_print_trace(10);
		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: 11, trace level: 2
			// Btnode Action 'start_drone_btn3' returns halted failure.
			ignorep := fiacre_c_print_trace(11);
			ignorep := fiacre_graphic_trace(5,ns_halted);
			null
		else
			// Trace index: 12, trace level: 2
			// Btnode Action 'start_drone_btn3' returns failure.
			ignorep := fiacre_c_print_trace(12);
			ignorep := fiacre_graphic_trace(5,ns_failure);
			null
		end;
		btnode[start_drone_btn3].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 13, trace level: 2
		// Btnode Action 'start_drone_btn3' has been halted.
		ignorep := fiacre_c_print_trace(13);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 14, trace level: 3
		// Btnode Action 'start_drone_btn3' returns running.
		ignorep := fiacre_c_print_trace(14);
		ignorep := fiacre_graphic_trace(5,ns_running);
		btnode[start_drone_btn3].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 15, trace level: 3
		// Btnode Action 'start_drone_btn3' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(15);
		btnode[start_drone_btn3].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_start_camera_btn4 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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: 16, trace level: 3
		// Btnode Action 'start_camera_btn4' has been called 
		ignorep := fiacre_c_print_trace(16);
		btnode[start_camera_btn4].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 17, trace level: 3
		// Btnode Action 'start_camera_btn4' is being halted 
		ignorep := fiacre_c_print_trace(17);
		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: 18, trace level: 3
		// Btnode Action 'start_camera_btn4' calling its action (start task)
		ignorep := fiacre_c_print_trace(18);
		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: 19, trace level: 3
		// Btnode Action 'start_camera_btn4' returned (sync task)
		ignorep := fiacre_c_print_trace(19);
		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: 20, trace level: 2
		// Btnode Action 'start_camera_btn4' returns success.
		ignorep := fiacre_c_print_trace(20);
		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: 21, trace level: 2
			// Btnode Action 'start_camera_btn4' returns halted failure.
			ignorep := fiacre_c_print_trace(21);
			ignorep := fiacre_graphic_trace(6,ns_halted);
			null
		else
			// Trace index: 22, trace level: 2
			// Btnode Action 'start_camera_btn4' returns failure.
			ignorep := fiacre_c_print_trace(22);
			ignorep := fiacre_graphic_trace(6,ns_failure);
			null
		end;
		btnode[start_camera_btn4].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 23, trace level: 2
		// Btnode Action 'start_camera_btn4' has been halted.
		ignorep := fiacre_c_print_trace(23);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 24, trace level: 3
		// Btnode Action 'start_camera_btn4' returns running.
		ignorep := fiacre_c_print_trace(24);
		ignorep := fiacre_graphic_trace(6,ns_running);
		btnode[start_camera_btn4].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 25, trace level: 3
		// Btnode Action 'start_camera_btn4' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(25);
		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: 26, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' has been called 
		ignorep := fiacre_c_print_trace(26);
		btnode[ParallelAll5_btn2].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 27, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' is being halted 
		ignorep := fiacre_c_print_trace(27);
		ignorep := fiacre_graphic_trace(4,ns_halt);
		if (btnode[start_drone_btn3].rstatus = running) then
			// Trace index: 28, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' halting Action 'start_drone_btn3'
			ignorep := fiacre_c_print_trace(28);
			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: 29, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' halting Action 'start_camera_btn4'
			ignorep := fiacre_c_print_trace(29);
			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: 30, trace level: 4
				// Btnode ParallelAll 'ParallelAll5_btn2' calling again 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' calling again Action 'start_camera_btn4'
				ignorep := fiacre_c_print_trace(31);
				btnode[start_camera_btn4].caller := caller_ParallelAll5_btn2
			end;
			null
		else
			// Trace index: 32, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' calling Action 'start_drone_btn3'
			ignorep := fiacre_c_print_trace(32);
			btnode[start_drone_btn3].caller := caller_ParallelAll5_btn2;
			// Trace index: 33, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' calling Action 'start_camera_btn4'
			ignorep := fiacre_c_print_trace(33);
			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: 34, trace level: 4
		// Btnode ParallelAll 'ParallelAll5_btn2' getting control back from Action 'start_drone_btn3'
		ignorep := fiacre_c_print_trace(34);
		// Trace index: 35, trace level: 4
		// Btnode ParallelAll 'ParallelAll5_btn2' getting control back from Action 'start_camera_btn4'
		ignorep := fiacre_c_print_trace(35);
		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: 36, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' failed but calling again to wait running Action 'start_drone_btn3'
			ignorep := fiacre_c_print_trace(36);
			btnode[start_drone_btn3].caller := caller_ParallelAll5_btn2
		end;
		if (btnode[start_camera_btn4].rstatus = running) then
			// Trace index: 37, trace level: 4
			// Btnode ParallelAll 'ParallelAll5_btn2' failed but calling again to wait running Action 'start_camera_btn4'
			ignorep := fiacre_c_print_trace(37);
			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: 38, trace level: 2
		// Btnode ParallelAll 'ParallelAll5_btn2' returns success.
		ignorep := fiacre_c_print_trace(38);
		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: 39, trace level: 2
			// Btnode ParallelAll 'ParallelAll5_btn2' returns halted failure.
			ignorep := fiacre_c_print_trace(39);
			ignorep := fiacre_graphic_trace(4,ns_halted);
			null
		else
			// Trace index: 40, trace level: 2
			// Btnode ParallelAll 'ParallelAll5_btn2' returns failure.
			ignorep := fiacre_c_print_trace(40);
			ignorep := fiacre_graphic_trace(4,ns_failure);
			null
		end;
		btnode[ParallelAll5_btn2].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 41, trace level: 2
		// Btnode ParallelAll 'ParallelAll5_btn2' has been halted.
		ignorep := fiacre_c_print_trace(41);
		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: 42, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' returns running.
		ignorep := fiacre_c_print_trace(42);
		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: 43, trace level: 3
		// Btnode ParallelAll 'ParallelAll5_btn2' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(43);
		btnode[ParallelAll5_btn2].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_measure_battery_btn9 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) is

	states start_, tick_node, success, halt, halted,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[measure_battery_btn9].caller <> None);
		report_halted := false;
		if (btnode[measure_battery_btn9].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 44, trace level: 3
		// Btnode SetSV 'measure_battery_btn9' has been called 
		ignorep := fiacre_c_print_trace(44);
		btnode[measure_battery_btn9].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 45, trace level: 3
		// Btnode SetSV 'measure_battery_btn9' is being halted 
		ignorep := fiacre_c_print_trace(45);
		ignorep := fiacre_graphic_trace(11,ns_halt);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(11,ns_ticked);
		// Trace index: 46, trace level: 3
		// Btnode SetSV 'measure_battery_btn9' Setting State Variable battery.
		ignorep := fiacre_c_print_trace(46);
		battery := Fiacre_SetSV_measure_battery_extern();
		to success

	from success
		wait [0,0];
		// Trace index: 47, trace level: 2
		// Btnode SetSV 'measure_battery_btn9' returns success.
		ignorep := fiacre_c_print_trace(47);
		btnode[measure_battery_btn9].rstatus := success;
		ignorep := fiacre_graphic_trace(11,ns_success);
		to done

	from done
		wait [0,0];
		// Trace index: 48, trace level: 3
		// Btnode SetSV 'measure_battery_btn9' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(48);
		btnode[measure_battery_btn9].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_ForceFailure17_btn8 (&btnode: btnode_array) is

	states start_, tick_node, failure, halt, halted, halt_wait, running, error,
		measure_battery_btn9, measure_battery_btn9_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[ForceFailure17_btn8].caller <> None);
		report_halted := false;
		if (btnode[ForceFailure17_btn8].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 49, trace level: 3
		// Btnode ForceFailure 'ForceFailure17_btn8' has been called 
		ignorep := fiacre_c_print_trace(49);
		btnode[ForceFailure17_btn8].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 50, trace level: 3
		// Btnode ForceFailure 'ForceFailure17_btn8' is being halted 
		ignorep := fiacre_c_print_trace(50);
		ignorep := fiacre_graphic_trace(10,ns_halt);
		if (btnode[measure_battery_btn9].rstatus = running) then
			// Trace index: 51, trace level: 4
			// Btnode ForceFailure 'ForceFailure17_btn8' halting SetSV 'measure_battery_btn9'
			ignorep := fiacre_c_print_trace(51);
			btnode[measure_battery_btn9].rstatus := halt_me;
			btnode[measure_battery_btn9].caller := caller_ForceFailure17_btn8;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (btnode[measure_battery_btn9].caller = None);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(10,ns_ticked);
	to measure_battery_btn9

	from measure_battery_btn9
		wait [0,0];
		// Trace index: 52, trace level: 4
		// Btnode ForceFailure 'ForceFailure17_btn8' calling SetSV 'measure_battery_btn9'
		ignorep := fiacre_c_print_trace(52);
		btnode[measure_battery_btn9].caller := caller_ForceFailure17_btn8;
		ignorep := fiacre_graphic_trace(10,ns_tick_passed);
		to measure_battery_btn9_done

	from measure_battery_btn9_done
		wait [0,0];
		on (btnode[measure_battery_btn9].caller = None);
		// Trace index: 53, trace level: 4
		// Btnode ForceFailure 'ForceFailure17_btn8' getting control back from SetSV 'measure_battery_btn9'
		ignorep := fiacre_c_print_trace(53);
		if (btnode[measure_battery_btn9].rstatus = success) then
			to failure
		elsif (btnode[measure_battery_btn9].rstatus = failure) then
			to failure
		elsif (btnode[measure_battery_btn9].rstatus = running) then
			to running
		else
			to error
		end

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 54, trace level: 2
			// Btnode ForceFailure 'ForceFailure17_btn8' returns halted failure.
			ignorep := fiacre_c_print_trace(54);
			ignorep := fiacre_graphic_trace(10,ns_halted);
			null
		else
			// Trace index: 55, trace level: 2
			// Btnode ForceFailure 'ForceFailure17_btn8' returns failure.
			ignorep := fiacre_c_print_trace(55);
			ignorep := fiacre_graphic_trace(10,ns_failure);
			null
		end;
		btnode[ForceFailure17_btn8].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 56, trace level: 2
		// Btnode ForceFailure 'ForceFailure17_btn8' has been halted.
		ignorep := fiacre_c_print_trace(56);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 57, trace level: 3
		// Btnode ForceFailure 'ForceFailure17_btn8' returns running.
		ignorep := fiacre_c_print_trace(57);
		ignorep := fiacre_graphic_trace(10,ns_running);
		btnode[ForceFailure17_btn8].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 58, trace level: 3
		// Btnode ForceFailure 'ForceFailure17_btn8' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(58);
		btnode[ForceFailure17_btn8].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Eval21_btn10 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) is

	states start_, tick_node, success, failure, halt, halted,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Eval21_btn10].caller <> None);
		report_halted := false;
		if (btnode[Eval21_btn10].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 59, trace level: 3
		// Btnode Eval 'Eval21_btn10' has been called 
		ignorep := fiacre_c_print_trace(59);
		btnode[Eval21_btn10].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 60, trace level: 3
		// Btnode Eval 'Eval21_btn10' is being halted 
		ignorep := fiacre_c_print_trace(60);
		ignorep := fiacre_graphic_trace(12,ns_halt);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(12,ns_ticked);
		// Trace index: 61, trace level: 3
		// Btnode Eval 'Eval21_btn10' evaluating expression (~ (= battery Critical))
		ignorep := fiacre_c_print_trace(61);
		if (not (battery = Critical)) then
			to success
		else
			to failure
		end

	from success
		wait [0,0];
		// Trace index: 62, trace level: 2
		// Btnode Eval 'Eval21_btn10' returns success.
		ignorep := fiacre_c_print_trace(62);
		btnode[Eval21_btn10].rstatus := success;
		ignorep := fiacre_graphic_trace(12,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 63, trace level: 2
			// Btnode Eval 'Eval21_btn10' returns halted failure.
			ignorep := fiacre_c_print_trace(63);
			ignorep := fiacre_graphic_trace(12,ns_halted);
			null
		else
			// Trace index: 64, trace level: 2
			// Btnode Eval 'Eval21_btn10' returns failure.
			ignorep := fiacre_c_print_trace(64);
			ignorep := fiacre_graphic_trace(12,ns_failure);
			null
		end;
		btnode[Eval21_btn10].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 65, trace level: 2
		// Btnode Eval 'Eval21_btn10' has been halted.
		ignorep := fiacre_c_print_trace(65);
		report_halted := true;
		to failure

	from done
		wait [0,0];
		// Trace index: 66, trace level: 3
		// Btnode Eval 'Eval21_btn10' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(66);
		btnode[Eval21_btn10].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_land_btn11 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn11].caller <> None);
		report_halted := false;
		if (btnode[land_btn11].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 67, trace level: 3
		// Btnode Action 'land_btn11' has been called 
		ignorep := fiacre_c_print_trace(67);
		btnode[land_btn11].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 68, trace level: 3
		// Btnode Action 'land_btn11' is being halted 
		ignorep := fiacre_c_print_trace(68);
		ignorep := fiacre_graphic_trace(13,ns_halt);
		ignoreb := Fiacre_Action_land_halt (btnode[land_btn11]);
	to halted

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

	from Action_land
		// Trace index: 69, trace level: 3
		// Btnode Action 'land_btn11' calling its action (start task)
		ignorep := fiacre_c_print_trace(69);
		start Fiacre_Action_land_task (btnode[land_btn11]);
	to Action_land_sync

	from Action_land_sync
		sync Fiacre_Action_land_task ret_val;
		// Trace index: 70, trace level: 3
		// Btnode Action 'land_btn11' returned (sync task)
		ignorep := fiacre_c_print_trace(70);
		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: 71, trace level: 2
		// Btnode Action 'land_btn11' returns success.
		ignorep := fiacre_c_print_trace(71);
		btnode[land_btn11].rstatus := success;
		ignorep := fiacre_graphic_trace(13,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 72, trace level: 2
			// Btnode Action 'land_btn11' returns halted failure.
			ignorep := fiacre_c_print_trace(72);
			ignorep := fiacre_graphic_trace(13,ns_halted);
			null
		else
			// Trace index: 73, trace level: 2
			// Btnode Action 'land_btn11' returns failure.
			ignorep := fiacre_c_print_trace(73);
			ignorep := fiacre_graphic_trace(13,ns_failure);
			null
		end;
		btnode[land_btn11].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 74, trace level: 2
		// Btnode Action 'land_btn11' has been halted.
		ignorep := fiacre_c_print_trace(74);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 75, trace level: 3
		// Btnode Action 'land_btn11' returns running.
		ignorep := fiacre_c_print_trace(75);
		ignorep := fiacre_graphic_trace(13,ns_running);
		btnode[land_btn11].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 76, trace level: 3
		// Btnode Action 'land_btn11' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(76);
		btnode[land_btn11].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Fallback15_btn7 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		ForceFailure17_btn8, ForceFailure17_btn8_done,
		Eval21_btn10, Eval21_btn10_done,
		land_btn11, land_btn11_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Fallback15_btn7].caller <> None);
		report_halted := false;
		if (btnode[Fallback15_btn7].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 77, trace level: 3
		// Btnode Fallback 'Fallback15_btn7' has been called 
		ignorep := fiacre_c_print_trace(77);
		btnode[Fallback15_btn7].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 78, trace level: 3
		// Btnode Fallback 'Fallback15_btn7' is being halted 
		ignorep := fiacre_c_print_trace(78);
		ignorep := fiacre_graphic_trace(9,ns_halt);
		if (btnode[ForceFailure17_btn8].rstatus = running) then
			// Trace index: 79, trace level: 4
			// Btnode Fallback 'Fallback15_btn7' halting ForceFailure 'ForceFailure17_btn8'
			ignorep := fiacre_c_print_trace(79);
			btnode[ForceFailure17_btn8].rstatus := halt_me;
			btnode[ForceFailure17_btn8].caller := caller_Fallback15_btn7;
			to halt_wait
		end;
		if (btnode[Eval21_btn10].rstatus = running) then
			// Trace index: 80, trace level: 4
			// Btnode Fallback 'Fallback15_btn7' halting Eval 'Eval21_btn10'
			ignorep := fiacre_c_print_trace(80);
			btnode[Eval21_btn10].rstatus := halt_me;
			btnode[Eval21_btn10].caller := caller_Fallback15_btn7;
			to halt_wait
		end;
		if (btnode[land_btn11].rstatus = running) then
			// Trace index: 81, trace level: 4
			// Btnode Fallback 'Fallback15_btn7' halting Action 'land_btn11'
			ignorep := fiacre_c_print_trace(81);
			btnode[land_btn11].rstatus := halt_me;
			btnode[land_btn11].caller := caller_Fallback15_btn7;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[ForceFailure17_btn8].caller = None) and
			(btnode[Eval21_btn10].caller = None) and
			(btnode[land_btn11].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(9,ns_ticked);
		if (next_fb = 1) then to ForceFailure17_btn8 end;
		if (next_fb = 2) then to Eval21_btn10 end;
		if (next_fb = 3) then to land_btn11 end;
		to error

	from ForceFailure17_btn8
		wait [0,0];
		// Trace index: 82, trace level: 4
		// Btnode Fallback 'Fallback15_btn7' calling ForceFailure 'ForceFailure17_btn8'
		ignorep := fiacre_c_print_trace(82);
		btnode[ForceFailure17_btn8].caller := caller_Fallback15_btn7;
		ignorep := fiacre_graphic_trace(9,ns_tick_passed);
		to ForceFailure17_btn8_done

	from ForceFailure17_btn8_done
		wait [0,0];
		on (btnode[ForceFailure17_btn8].caller = None);
		ignorep := fiacre_graphic_trace(9,ns_ticked);
		// Trace index: 83, trace level: 4
		// Btnode Fallback 'Fallback15_btn7' getting control back from ForceFailure 'ForceFailure17_btn8'
		ignorep := fiacre_c_print_trace(83);
		if (btnode[ForceFailure17_btn8].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[ForceFailure17_btn8].rstatus = failure) then
			to Eval21_btn10
		elsif (btnode[ForceFailure17_btn8].rstatus = running) then
			next_fb := 1;
			to running
		else
			to error
		end

	from Eval21_btn10
		wait [0,0];
		// Trace index: 84, trace level: 4
		// Btnode Fallback 'Fallback15_btn7' calling Eval 'Eval21_btn10'
		ignorep := fiacre_c_print_trace(84);
		btnode[Eval21_btn10].caller := caller_Fallback15_btn7;
		ignorep := fiacre_graphic_trace(9,ns_tick_passed);
		to Eval21_btn10_done

	from Eval21_btn10_done
		wait [0,0];
		on (btnode[Eval21_btn10].caller = None);
		ignorep := fiacre_graphic_trace(9,ns_ticked);
		// Trace index: 85, trace level: 4
		// Btnode Fallback 'Fallback15_btn7' getting control back from Eval 'Eval21_btn10'
		ignorep := fiacre_c_print_trace(85);
		if (btnode[Eval21_btn10].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[Eval21_btn10].rstatus = failure) then
			to land_btn11
		elsif (btnode[Eval21_btn10].rstatus = running) then
			next_fb := 2;
			to running
		else
			to error
		end

	from land_btn11
		wait [0,0];
		// Trace index: 86, trace level: 4
		// Btnode Fallback 'Fallback15_btn7' calling Action 'land_btn11'
		ignorep := fiacre_c_print_trace(86);
		btnode[land_btn11].caller := caller_Fallback15_btn7;
		ignorep := fiacre_graphic_trace(9,ns_tick_passed);
		to land_btn11_done

	from land_btn11_done
		wait [0,0];
		on (btnode[land_btn11].caller = None);
		ignorep := fiacre_graphic_trace(9,ns_ticked);
		// Trace index: 87, trace level: 4
		// Btnode Fallback 'Fallback15_btn7' getting control back from Action 'land_btn11'
		ignorep := fiacre_c_print_trace(87);
		if (btnode[land_btn11].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[land_btn11].rstatus = failure) then
			next_fb := 1;
			to failure
		elsif (btnode[land_btn11].rstatus = running) then
			next_fb := 3;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 88, trace level: 2
		// Btnode Fallback 'Fallback15_btn7' returns success.
		ignorep := fiacre_c_print_trace(88);
		btnode[Fallback15_btn7].rstatus := success;
		ignorep := fiacre_graphic_trace(9,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 89, trace level: 2
			// Btnode Fallback 'Fallback15_btn7' returns halted failure.
			ignorep := fiacre_c_print_trace(89);
			ignorep := fiacre_graphic_trace(9,ns_halted);
			null
		else
			// Trace index: 90, trace level: 2
			// Btnode Fallback 'Fallback15_btn7' returns failure.
			ignorep := fiacre_c_print_trace(90);
			ignorep := fiacre_graphic_trace(9,ns_failure);
			null
		end;
		btnode[Fallback15_btn7].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 91, trace level: 2
		// Btnode Fallback 'Fallback15_btn7' has been halted.
		ignorep := fiacre_c_print_trace(91);
		next_fb := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 92, trace level: 3
		// Btnode Fallback 'Fallback15_btn7' returns running.
		ignorep := fiacre_c_print_trace(92);
		ignorep := fiacre_graphic_trace(9,ns_running);
		btnode[Fallback15_btn7].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 93, trace level: 3
		// Btnode Fallback 'Fallback15_btn7' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(93);
		btnode[Fallback15_btn7].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Eval25_btn12 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) is

	states start_, tick_node, success, failure, halt, halted,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Eval25_btn12].caller <> None);
		report_halted := false;
		if (btnode[Eval25_btn12].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 94, trace level: 3
		// Btnode Eval 'Eval25_btn12' has been called 
		ignorep := fiacre_c_print_trace(94);
		btnode[Eval25_btn12].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 95, trace level: 3
		// Btnode Eval 'Eval25_btn12' is being halted 
		ignorep := fiacre_c_print_trace(95);
		ignorep := fiacre_graphic_trace(14,ns_halt);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(14,ns_ticked);
		// Trace index: 96, trace level: 3
		// Btnode Eval 'Eval25_btn12' evaluating expression (~ (= battery Critical))
		ignorep := fiacre_c_print_trace(96);
		if (not (battery = Critical)) then
			to success
		else
			to failure
		end

	from success
		wait [0,0];
		// Trace index: 97, trace level: 2
		// Btnode Eval 'Eval25_btn12' returns success.
		ignorep := fiacre_c_print_trace(97);
		btnode[Eval25_btn12].rstatus := success;
		ignorep := fiacre_graphic_trace(14,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 98, trace level: 2
			// Btnode Eval 'Eval25_btn12' returns halted failure.
			ignorep := fiacre_c_print_trace(98);
			ignorep := fiacre_graphic_trace(14,ns_halted);
			null
		else
			// Trace index: 99, trace level: 2
			// Btnode Eval 'Eval25_btn12' returns failure.
			ignorep := fiacre_c_print_trace(99);
			ignorep := fiacre_graphic_trace(14,ns_failure);
			null
		end;
		btnode[Eval25_btn12].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 100, trace level: 2
		// Btnode Eval 'Eval25_btn12' has been halted.
		ignorep := fiacre_c_print_trace(100);
		report_halted := true;
		to failure

	from done
		wait [0,0];
		// Trace index: 101, trace level: 3
		// Btnode Eval 'Eval25_btn12' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(101);
		btnode[Eval25_btn12].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Eval29_btn14 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) is

	states start_, tick_node, success, failure, halt, halted,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Eval29_btn14].caller <> None);
		report_halted := false;
		if (btnode[Eval29_btn14].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 102, trace level: 3
		// Btnode Eval 'Eval29_btn14' has been called 
		ignorep := fiacre_c_print_trace(102);
		btnode[Eval29_btn14].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 103, trace level: 3
		// Btnode Eval 'Eval29_btn14' is being halted 
		ignorep := fiacre_c_print_trace(103);
		ignorep := fiacre_graphic_trace(16,ns_halt);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(16,ns_ticked);
		// Trace index: 104, trace level: 3
		// Btnode Eval 'Eval29_btn14' evaluating expression (= battery Good)
		ignorep := fiacre_c_print_trace(104);
		if (battery = Good) then
			to success
		else
			to failure
		end

	from success
		wait [0,0];
		// Trace index: 105, trace level: 2
		// Btnode Eval 'Eval29_btn14' returns success.
		ignorep := fiacre_c_print_trace(105);
		btnode[Eval29_btn14].rstatus := success;
		ignorep := fiacre_graphic_trace(16,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 106, trace level: 2
			// Btnode Eval 'Eval29_btn14' returns halted failure.
			ignorep := fiacre_c_print_trace(106);
			ignorep := fiacre_graphic_trace(16,ns_halted);
			null
		else
			// Trace index: 107, trace level: 2
			// Btnode Eval 'Eval29_btn14' returns failure.
			ignorep := fiacre_c_print_trace(107);
			ignorep := fiacre_graphic_trace(16,ns_failure);
			null
		end;
		btnode[Eval29_btn14].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 108, trace level: 2
		// Btnode Eval 'Eval29_btn14' has been halted.
		ignorep := fiacre_c_print_trace(108);
		report_halted := true;
		to failure

	from done
		wait [0,0];
		// Trace index: 109, trace level: 3
		// Btnode Eval 'Eval29_btn14' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(109);
		btnode[Eval29_btn14].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn15 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn15].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn15].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 110, trace level: 3
		// Btnode Action 'goto_waypoint_btn15' has been called (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(110);
		btnode[goto_waypoint_btn15].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 111, trace level: 3
		// Btnode Action 'goto_waypoint_btn15' is being halted (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(111);
		ignorep := fiacre_graphic_trace(17,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn15]);
	to halted

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

	from Action_goto_waypoint
		// synthesized action arg index  1
		btnode[goto_waypoint_btn15].ArgIndex := 1;
		// Trace index: 112, trace level: 3
		// Btnode Action 'goto_waypoint_btn15' calling its action (start task)
		ignorep := fiacre_c_print_trace(112);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn15]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 113, trace level: 3
		// Btnode Action 'goto_waypoint_btn15' returned (sync task)
		ignorep := fiacre_c_print_trace(113);
		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: 114, trace level: 2
		// Btnode Action 'goto_waypoint_btn15' (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(114);
		btnode[goto_waypoint_btn15].rstatus := success;
		ignorep := fiacre_graphic_trace(17,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 115, trace level: 2
			// Btnode Action 'goto_waypoint_btn15' (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(115);
			ignorep := fiacre_graphic_trace(17,ns_halted);
			null
		else
			// Trace index: 116, trace level: 2
			// Btnode Action 'goto_waypoint_btn15' (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(116);
			ignorep := fiacre_graphic_trace(17,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn15].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 117, trace level: 2
		// Btnode Action 'goto_waypoint_btn15' (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(117);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 118, trace level: 3
		// Btnode Action 'goto_waypoint_btn15' (:x -1  :y -1  :z 0.500000  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(118);
		ignorep := fiacre_graphic_trace(17,ns_running);
		btnode[goto_waypoint_btn15].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 119, trace level: 3
		// Btnode Action 'goto_waypoint_btn15' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(119);
		btnode[goto_waypoint_btn15].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Fallback27_btn13 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		Eval29_btn14, Eval29_btn14_done,
		goto_waypoint_btn15, goto_waypoint_btn15_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Fallback27_btn13].caller <> None);
		report_halted := false;
		if (btnode[Fallback27_btn13].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 120, trace level: 3
		// Btnode Fallback 'Fallback27_btn13' has been called 
		ignorep := fiacre_c_print_trace(120);
		btnode[Fallback27_btn13].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 121, trace level: 3
		// Btnode Fallback 'Fallback27_btn13' is being halted 
		ignorep := fiacre_c_print_trace(121);
		ignorep := fiacre_graphic_trace(15,ns_halt);
		if (btnode[Eval29_btn14].rstatus = running) then
			// Trace index: 122, trace level: 4
			// Btnode Fallback 'Fallback27_btn13' halting Eval 'Eval29_btn14'
			ignorep := fiacre_c_print_trace(122);
			btnode[Eval29_btn14].rstatus := halt_me;
			btnode[Eval29_btn14].caller := caller_Fallback27_btn13;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn15].rstatus = running) then
			// Trace index: 123, trace level: 4
			// Btnode Fallback 'Fallback27_btn13' halting Action 'goto_waypoint_btn15'
			ignorep := fiacre_c_print_trace(123);
			btnode[goto_waypoint_btn15].rstatus := halt_me;
			btnode[goto_waypoint_btn15].caller := caller_Fallback27_btn13;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[Eval29_btn14].caller = None) and
			(btnode[goto_waypoint_btn15].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(15,ns_ticked);
		if (next_fb = 1) then to Eval29_btn14 end;
		if (next_fb = 2) then to goto_waypoint_btn15 end;
		to error

	from Eval29_btn14
		wait [0,0];
		// Trace index: 124, trace level: 4
		// Btnode Fallback 'Fallback27_btn13' calling Eval 'Eval29_btn14'
		ignorep := fiacre_c_print_trace(124);
		btnode[Eval29_btn14].caller := caller_Fallback27_btn13;
		ignorep := fiacre_graphic_trace(15,ns_tick_passed);
		to Eval29_btn14_done

	from Eval29_btn14_done
		wait [0,0];
		on (btnode[Eval29_btn14].caller = None);
		ignorep := fiacre_graphic_trace(15,ns_ticked);
		// Trace index: 125, trace level: 4
		// Btnode Fallback 'Fallback27_btn13' getting control back from Eval 'Eval29_btn14'
		ignorep := fiacre_c_print_trace(125);
		if (btnode[Eval29_btn14].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[Eval29_btn14].rstatus = failure) then
			to goto_waypoint_btn15
		elsif (btnode[Eval29_btn14].rstatus = running) then
			next_fb := 1;
			to running
		else
			to error
		end

	from goto_waypoint_btn15
		wait [0,0];
		// Trace index: 126, trace level: 4
		// Btnode Fallback 'Fallback27_btn13' calling Action 'goto_waypoint_btn15'
		ignorep := fiacre_c_print_trace(126);
		btnode[goto_waypoint_btn15].caller := caller_Fallback27_btn13;
		ignorep := fiacre_graphic_trace(15,ns_tick_passed);
		to goto_waypoint_btn15_done

	from goto_waypoint_btn15_done
		wait [0,0];
		on (btnode[goto_waypoint_btn15].caller = None);
		ignorep := fiacre_graphic_trace(15,ns_ticked);
		// Trace index: 127, trace level: 4
		// Btnode Fallback 'Fallback27_btn13' getting control back from Action 'goto_waypoint_btn15'
		ignorep := fiacre_c_print_trace(127);
		if (btnode[goto_waypoint_btn15].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[goto_waypoint_btn15].rstatus = failure) then
			next_fb := 1;
			to failure
		elsif (btnode[goto_waypoint_btn15].rstatus = running) then
			next_fb := 2;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 128, trace level: 2
		// Btnode Fallback 'Fallback27_btn13' returns success.
		ignorep := fiacre_c_print_trace(128);
		btnode[Fallback27_btn13].rstatus := success;
		ignorep := fiacre_graphic_trace(15,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 129, trace level: 2
			// Btnode Fallback 'Fallback27_btn13' returns halted failure.
			ignorep := fiacre_c_print_trace(129);
			ignorep := fiacre_graphic_trace(15,ns_halted);
			null
		else
			// Trace index: 130, trace level: 2
			// Btnode Fallback 'Fallback27_btn13' returns failure.
			ignorep := fiacre_c_print_trace(130);
			ignorep := fiacre_graphic_trace(15,ns_failure);
			null
		end;
		btnode[Fallback27_btn13].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 131, trace level: 2
		// Btnode Fallback 'Fallback27_btn13' has been halted.
		ignorep := fiacre_c_print_trace(131);
		next_fb := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 132, trace level: 3
		// Btnode Fallback 'Fallback27_btn13' returns running.
		ignorep := fiacre_c_print_trace(132);
		ignorep := fiacre_graphic_trace(15,ns_running);
		btnode[Fallback27_btn13].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 133, trace level: 3
		// Btnode Fallback 'Fallback27_btn13' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(133);
		btnode[Fallback27_btn13].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Sequence13_btn6 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		Fallback15_btn7, Fallback15_btn7_done,
		Eval25_btn12, Eval25_btn12_done,
		Fallback27_btn13, Fallback27_btn13_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Sequence13_btn6].caller <> None);
		report_halted := false;
		if (btnode[Sequence13_btn6].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 134, trace level: 3
		// Btnode Sequence 'Sequence13_btn6' has been called 
		ignorep := fiacre_c_print_trace(134);
		btnode[Sequence13_btn6].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 135, trace level: 3
		// Btnode Sequence 'Sequence13_btn6' is being halted 
		ignorep := fiacre_c_print_trace(135);
		ignorep := fiacre_graphic_trace(8,ns_halt);
		if (btnode[Fallback15_btn7].rstatus = running) then
			// Trace index: 136, trace level: 4
			// Btnode Sequence 'Sequence13_btn6' halting Fallback 'Fallback15_btn7'
			ignorep := fiacre_c_print_trace(136);
			btnode[Fallback15_btn7].rstatus := halt_me;
			btnode[Fallback15_btn7].caller := caller_Sequence13_btn6;
			to halt_wait
		end;
		if (btnode[Eval25_btn12].rstatus = running) then
			// Trace index: 137, trace level: 4
			// Btnode Sequence 'Sequence13_btn6' halting Eval 'Eval25_btn12'
			ignorep := fiacre_c_print_trace(137);
			btnode[Eval25_btn12].rstatus := halt_me;
			btnode[Eval25_btn12].caller := caller_Sequence13_btn6;
			to halt_wait
		end;
		if (btnode[Fallback27_btn13].rstatus = running) then
			// Trace index: 138, trace level: 4
			// Btnode Sequence 'Sequence13_btn6' halting Fallback 'Fallback27_btn13'
			ignorep := fiacre_c_print_trace(138);
			btnode[Fallback27_btn13].rstatus := halt_me;
			btnode[Fallback27_btn13].caller := caller_Sequence13_btn6;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[Fallback15_btn7].caller = None) and
			(btnode[Eval25_btn12].caller = None) and
			(btnode[Fallback27_btn13].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		if (next_seq = 1) then to Fallback15_btn7 end;
		if (next_seq = 2) then to Eval25_btn12 end;
		if (next_seq = 3) then to Fallback27_btn13 end;
		to error

	from Fallback15_btn7
		wait [0,0];
		// Trace index: 139, trace level: 4
		// Btnode Sequence 'Sequence13_btn6' calling Fallback 'Fallback15_btn7'
		ignorep := fiacre_c_print_trace(139);
		btnode[Fallback15_btn7].caller := caller_Sequence13_btn6;
		ignorep := fiacre_graphic_trace(8,ns_tick_passed);
		to Fallback15_btn7_done

	from Fallback15_btn7_done
		wait [0,0];
		on (btnode[Fallback15_btn7].caller = None);
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		// Trace index: 140, trace level: 4
		// Btnode Sequence 'Sequence13_btn6' getting control back from Fallback 'Fallback15_btn7'
		ignorep := fiacre_c_print_trace(140);
		if (btnode[Fallback15_btn7].rstatus = success) then
			to Eval25_btn12
		elsif (btnode[Fallback15_btn7].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Fallback15_btn7].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Eval25_btn12
		wait [0,0];
		// Trace index: 141, trace level: 4
		// Btnode Sequence 'Sequence13_btn6' calling Eval 'Eval25_btn12'
		ignorep := fiacre_c_print_trace(141);
		btnode[Eval25_btn12].caller := caller_Sequence13_btn6;
		ignorep := fiacre_graphic_trace(8,ns_tick_passed);
		to Eval25_btn12_done

	from Eval25_btn12_done
		wait [0,0];
		on (btnode[Eval25_btn12].caller = None);
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		// Trace index: 142, trace level: 4
		// Btnode Sequence 'Sequence13_btn6' getting control back from Eval 'Eval25_btn12'
		ignorep := fiacre_c_print_trace(142);
		if (btnode[Eval25_btn12].rstatus = success) then
			to Fallback27_btn13
		elsif (btnode[Eval25_btn12].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Eval25_btn12].rstatus = running) then
			next_seq := 2;
			to running
		else
			to error
		end

	from Fallback27_btn13
		wait [0,0];
		// Trace index: 143, trace level: 4
		// Btnode Sequence 'Sequence13_btn6' calling Fallback 'Fallback27_btn13'
		ignorep := fiacre_c_print_trace(143);
		btnode[Fallback27_btn13].caller := caller_Sequence13_btn6;
		ignorep := fiacre_graphic_trace(8,ns_tick_passed);
		to Fallback27_btn13_done

	from Fallback27_btn13_done
		wait [0,0];
		on (btnode[Fallback27_btn13].caller = None);
		ignorep := fiacre_graphic_trace(8,ns_ticked);
		// Trace index: 144, trace level: 4
		// Btnode Sequence 'Sequence13_btn6' getting control back from Fallback 'Fallback27_btn13'
		ignorep := fiacre_c_print_trace(144);
		if (btnode[Fallback27_btn13].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[Fallback27_btn13].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Fallback27_btn13].rstatus = running) then
			next_seq := 3;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 145, trace level: 2
		// Btnode Sequence 'Sequence13_btn6' returns success.
		ignorep := fiacre_c_print_trace(145);
		btnode[Sequence13_btn6].rstatus := success;
		ignorep := fiacre_graphic_trace(8,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 146, trace level: 2
			// Btnode Sequence 'Sequence13_btn6' returns halted failure.
			ignorep := fiacre_c_print_trace(146);
			ignorep := fiacre_graphic_trace(8,ns_halted);
			null
		else
			// Trace index: 147, trace level: 2
			// Btnode Sequence 'Sequence13_btn6' returns failure.
			ignorep := fiacre_c_print_trace(147);
			ignorep := fiacre_graphic_trace(8,ns_failure);
			null
		end;
		btnode[Sequence13_btn6].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 148, trace level: 2
		// Btnode Sequence 'Sequence13_btn6' has been halted.
		ignorep := fiacre_c_print_trace(148);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 149, trace level: 3
		// Btnode Sequence 'Sequence13_btn6' returns running.
		ignorep := fiacre_c_print_trace(149);
		ignorep := fiacre_graphic_trace(8,ns_running);
		btnode[Sequence13_btn6].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 150, trace level: 3
		// Btnode Sequence 'Sequence13_btn6' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(150);
		btnode[Sequence13_btn6].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_localization_ok_btn17 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn17].caller <> None);
		// Trace index: 151, trace level: 3
		// Btnode Condition 'localization_ok_btn17' has been called 
		ignorep := fiacre_c_print_trace(151);
		btnode[localization_ok_btn17].rstatus := no_ret_status;
	to tick_node

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

	from Condition_localization_ok
		// Trace index: 152, trace level: 3
		// Btnode Condition 'localization_ok_btn17' calling its condition external
		ignorep := fiacre_c_print_trace(152);
		ret_val := Fiacre_Condition_localization_ok_ext (btnode[localization_ok_btn17]);
		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: 153, trace level: 2
		// Btnode Condition 'localization_ok_btn17' returns success.
		ignorep := fiacre_c_print_trace(153);
		btnode[localization_ok_btn17].rstatus := success;
		ignorep := fiacre_graphic_trace(19,ns_success);
		to done

	from failure
		wait [0,0];
			// Trace index: 154, trace level: 2
			// Btnode Condition 'localization_ok_btn17' returns failure.
			ignorep := fiacre_c_print_trace(154);
			ignorep := fiacre_graphic_trace(19,ns_failure);
		btnode[localization_ok_btn17].rstatus := failure;
		to done

	from done
		wait [0,0];
		// Trace index: 155, trace level: 3
		// Btnode Condition 'localization_ok_btn17' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(155);
		btnode[localization_ok_btn17].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_land_btn19 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn19].caller <> None);
		report_halted := false;
		if (btnode[land_btn19].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 156, trace level: 3
		// Btnode Action 'land_btn19' has been called 
		ignorep := fiacre_c_print_trace(156);
		btnode[land_btn19].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 157, trace level: 3
		// Btnode Action 'land_btn19' is being halted 
		ignorep := fiacre_c_print_trace(157);
		ignorep := fiacre_graphic_trace(21,ns_halt);
		ignoreb := Fiacre_Action_land_halt (btnode[land_btn19]);
	to halted

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

	from Action_land
		// Trace index: 158, trace level: 3
		// Btnode Action 'land_btn19' calling its action (start task)
		ignorep := fiacre_c_print_trace(158);
		start Fiacre_Action_land_task (btnode[land_btn19]);
	to Action_land_sync

	from Action_land_sync
		sync Fiacre_Action_land_task ret_val;
		// Trace index: 159, trace level: 3
		// Btnode Action 'land_btn19' 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 'land_btn19' returns success.
		ignorep := fiacre_c_print_trace(160);
		btnode[land_btn19].rstatus := success;
		ignorep := fiacre_graphic_trace(21,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 161, trace level: 2
			// Btnode Action 'land_btn19' returns halted failure.
			ignorep := fiacre_c_print_trace(161);
			ignorep := fiacre_graphic_trace(21,ns_halted);
			null
		else
			// Trace index: 162, trace level: 2
			// Btnode Action 'land_btn19' returns failure.
			ignorep := fiacre_c_print_trace(162);
			ignorep := fiacre_graphic_trace(21,ns_failure);
			null
		end;
		btnode[land_btn19].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 163, trace level: 2
		// Btnode Action 'land_btn19' 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 'land_btn19' returns running.
		ignorep := fiacre_c_print_trace(164);
		ignorep := fiacre_graphic_trace(21,ns_running);
		btnode[land_btn19].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 165, trace level: 3
		// Btnode Action 'land_btn19' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(165);
		btnode[land_btn19].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_ForceFailure37_btn18 (&btnode: btnode_array) is

	states start_, tick_node, failure, halt, halted, halt_wait, running, error,
		land_btn19, land_btn19_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[ForceFailure37_btn18].caller <> None);
		report_halted := false;
		if (btnode[ForceFailure37_btn18].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 166, trace level: 3
		// Btnode ForceFailure 'ForceFailure37_btn18' has been called 
		ignorep := fiacre_c_print_trace(166);
		btnode[ForceFailure37_btn18].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 167, trace level: 3
		// Btnode ForceFailure 'ForceFailure37_btn18' is being halted 
		ignorep := fiacre_c_print_trace(167);
		ignorep := fiacre_graphic_trace(20,ns_halt);
		if (btnode[land_btn19].rstatus = running) then
			// Trace index: 168, trace level: 4
			// Btnode ForceFailure 'ForceFailure37_btn18' halting Action 'land_btn19'
			ignorep := fiacre_c_print_trace(168);
			btnode[land_btn19].rstatus := halt_me;
			btnode[land_btn19].caller := caller_ForceFailure37_btn18;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (btnode[land_btn19].caller = None);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(20,ns_ticked);
	to land_btn19

	from land_btn19
		wait [0,0];
		// Trace index: 169, trace level: 4
		// Btnode ForceFailure 'ForceFailure37_btn18' calling Action 'land_btn19'
		ignorep := fiacre_c_print_trace(169);
		btnode[land_btn19].caller := caller_ForceFailure37_btn18;
		ignorep := fiacre_graphic_trace(20,ns_tick_passed);
		to land_btn19_done

	from land_btn19_done
		wait [0,0];
		on (btnode[land_btn19].caller = None);
		// Trace index: 170, trace level: 4
		// Btnode ForceFailure 'ForceFailure37_btn18' getting control back from Action 'land_btn19'
		ignorep := fiacre_c_print_trace(170);
		if (btnode[land_btn19].rstatus = success) then
			to failure
		elsif (btnode[land_btn19].rstatus = failure) then
			to failure
		elsif (btnode[land_btn19].rstatus = running) then
			to running
		else
			to error
		end

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 171, trace level: 2
			// Btnode ForceFailure 'ForceFailure37_btn18' returns halted failure.
			ignorep := fiacre_c_print_trace(171);
			ignorep := fiacre_graphic_trace(20,ns_halted);
			null
		else
			// Trace index: 172, trace level: 2
			// Btnode ForceFailure 'ForceFailure37_btn18' returns failure.
			ignorep := fiacre_c_print_trace(172);
			ignorep := fiacre_graphic_trace(20,ns_failure);
			null
		end;
		btnode[ForceFailure37_btn18].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 173, trace level: 2
		// Btnode ForceFailure 'ForceFailure37_btn18' 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 ForceFailure 'ForceFailure37_btn18' returns running.
		ignorep := fiacre_c_print_trace(174);
		ignorep := fiacre_graphic_trace(20,ns_running);
		btnode[ForceFailure37_btn18].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 175, trace level: 3
		// Btnode ForceFailure 'ForceFailure37_btn18' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(175);
		btnode[ForceFailure37_btn18].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Fallback33_btn16 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		localization_ok_btn17, localization_ok_btn17_done,
		ForceFailure37_btn18, ForceFailure37_btn18_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Fallback33_btn16].caller <> None);
		report_halted := false;
		if (btnode[Fallback33_btn16].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 176, trace level: 3
		// Btnode Fallback 'Fallback33_btn16' has been called 
		ignorep := fiacre_c_print_trace(176);
		btnode[Fallback33_btn16].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 177, trace level: 3
		// Btnode Fallback 'Fallback33_btn16' is being halted 
		ignorep := fiacre_c_print_trace(177);
		ignorep := fiacre_graphic_trace(18,ns_halt);
		if (btnode[localization_ok_btn17].rstatus = running) then
			// Trace index: 178, trace level: 4
			// Btnode Fallback 'Fallback33_btn16' halting Condition 'localization_ok_btn17'
			ignorep := fiacre_c_print_trace(178);
			btnode[localization_ok_btn17].rstatus := halt_me;
			btnode[localization_ok_btn17].caller := caller_Fallback33_btn16;
			to halt_wait
		end;
		if (btnode[ForceFailure37_btn18].rstatus = running) then
			// Trace index: 179, trace level: 4
			// Btnode Fallback 'Fallback33_btn16' halting ForceFailure 'ForceFailure37_btn18'
			ignorep := fiacre_c_print_trace(179);
			btnode[ForceFailure37_btn18].rstatus := halt_me;
			btnode[ForceFailure37_btn18].caller := caller_Fallback33_btn16;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[localization_ok_btn17].caller = None) and
			(btnode[ForceFailure37_btn18].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(18,ns_ticked);
		if (next_fb = 1) then to localization_ok_btn17 end;
		if (next_fb = 2) then to ForceFailure37_btn18 end;
		to error

	from localization_ok_btn17
		wait [0,0];
		// Trace index: 180, trace level: 4
		// Btnode Fallback 'Fallback33_btn16' calling Condition 'localization_ok_btn17'
		ignorep := fiacre_c_print_trace(180);
		btnode[localization_ok_btn17].caller := caller_Fallback33_btn16;
		ignorep := fiacre_graphic_trace(18,ns_tick_passed);
		to localization_ok_btn17_done

	from localization_ok_btn17_done
		wait [0,0];
		on (btnode[localization_ok_btn17].caller = None);
		ignorep := fiacre_graphic_trace(18,ns_ticked);
		// Trace index: 181, trace level: 4
		// Btnode Fallback 'Fallback33_btn16' getting control back from Condition 'localization_ok_btn17'
		ignorep := fiacre_c_print_trace(181);
		if (btnode[localization_ok_btn17].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[localization_ok_btn17].rstatus = failure) then
			to ForceFailure37_btn18
		elsif (btnode[localization_ok_btn17].rstatus = running) then
			next_fb := 1;
			to running
		else
			to error
		end

	from ForceFailure37_btn18
		wait [0,0];
		// Trace index: 182, trace level: 4
		// Btnode Fallback 'Fallback33_btn16' calling ForceFailure 'ForceFailure37_btn18'
		ignorep := fiacre_c_print_trace(182);
		btnode[ForceFailure37_btn18].caller := caller_Fallback33_btn16;
		ignorep := fiacre_graphic_trace(18,ns_tick_passed);
		to ForceFailure37_btn18_done

	from ForceFailure37_btn18_done
		wait [0,0];
		on (btnode[ForceFailure37_btn18].caller = None);
		ignorep := fiacre_graphic_trace(18,ns_ticked);
		// Trace index: 183, trace level: 4
		// Btnode Fallback 'Fallback33_btn16' getting control back from ForceFailure 'ForceFailure37_btn18'
		ignorep := fiacre_c_print_trace(183);
		if (btnode[ForceFailure37_btn18].rstatus = success) then
			next_fb := 1;
			to success
		elsif (btnode[ForceFailure37_btn18].rstatus = failure) then
			next_fb := 1;
			to failure
		elsif (btnode[ForceFailure37_btn18].rstatus = running) then
			next_fb := 2;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 184, trace level: 2
		// Btnode Fallback 'Fallback33_btn16' returns success.
		ignorep := fiacre_c_print_trace(184);
		btnode[Fallback33_btn16].rstatus := success;
		ignorep := fiacre_graphic_trace(18,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 185, trace level: 2
			// Btnode Fallback 'Fallback33_btn16' returns halted failure.
			ignorep := fiacre_c_print_trace(185);
			ignorep := fiacre_graphic_trace(18,ns_halted);
			null
		else
			// Trace index: 186, trace level: 2
			// Btnode Fallback 'Fallback33_btn16' returns failure.
			ignorep := fiacre_c_print_trace(186);
			ignorep := fiacre_graphic_trace(18,ns_failure);
			null
		end;
		btnode[Fallback33_btn16].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 187, trace level: 2
		// Btnode Fallback 'Fallback33_btn16' has been halted.
		ignorep := fiacre_c_print_trace(187);
		next_fb := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 188, trace level: 3
		// Btnode Fallback 'Fallback33_btn16' returns running.
		ignorep := fiacre_c_print_trace(188);
		ignorep := fiacre_graphic_trace(18,ns_running);
		btnode[Fallback33_btn16].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 189, trace level: 3
		// Btnode Fallback 'Fallback33_btn16' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(189);
		btnode[Fallback33_btn16].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_takeoff_btn21 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn21].caller <> None);
		report_halted := false;
		if (btnode[takeoff_btn21].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 190, trace level: 3
		// Btnode Action 'takeoff_btn21' has been called (:height 1.000000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(190);
		btnode[takeoff_btn21].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 191, trace level: 3
		// Btnode Action 'takeoff_btn21' is being halted (:height 1.000000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(191);
		ignorep := fiacre_graphic_trace(23,ns_halt);
		ignoreb := Fiacre_Action_takeoff_halt (btnode[takeoff_btn21]);
	to halted

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

	from Action_takeoff
		// synthesized action arg index  2
		btnode[takeoff_btn21].ArgIndex := 2;
		// Trace index: 192, trace level: 3
		// Btnode Action 'takeoff_btn21' calling its action (start task)
		ignorep := fiacre_c_print_trace(192);
		start Fiacre_Action_takeoff_task (btnode[takeoff_btn21]);
	to Action_takeoff_sync

	from Action_takeoff_sync
		sync Fiacre_Action_takeoff_task ret_val;
		// Trace index: 193, trace level: 3
		// Btnode Action 'takeoff_btn21' returned (sync task)
		ignorep := fiacre_c_print_trace(193);
		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: 194, trace level: 2
		// Btnode Action 'takeoff_btn21' (:height 1.000000  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(194);
		btnode[takeoff_btn21].rstatus := success;
		ignorep := fiacre_graphic_trace(23,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 195, trace level: 2
			// Btnode Action 'takeoff_btn21' (:height 1.000000  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(195);
			ignorep := fiacre_graphic_trace(23,ns_halted);
			null
		else
			// Trace index: 196, trace level: 2
			// Btnode Action 'takeoff_btn21' (:height 1.000000  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(196);
			ignorep := fiacre_graphic_trace(23,ns_failure);
			null
		end;
		btnode[takeoff_btn21].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 197, trace level: 2
		// Btnode Action 'takeoff_btn21' (:height 1.000000  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(197);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 198, trace level: 3
		// Btnode Action 'takeoff_btn21' (:height 1.000000  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(198);
		ignorep := fiacre_graphic_trace(23,ns_running);
		btnode[takeoff_btn21].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 199, trace level: 3
		// Btnode Action 'takeoff_btn21' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(199);
		btnode[takeoff_btn21].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_camera_tracking_btn23 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn23].caller <> None);
		report_halted := false;
		if (btnode[camera_tracking_btn23].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 200, trace level: 3
		// Btnode Action 'camera_tracking_btn23' has been called 
		ignorep := fiacre_c_print_trace(200);
		btnode[camera_tracking_btn23].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 201, trace level: 3
		// Btnode Action 'camera_tracking_btn23' is being halted 
		ignorep := fiacre_c_print_trace(201);
		ignorep := fiacre_graphic_trace(25,ns_halt);
		ignoreb := Fiacre_Action_camera_tracking_halt (btnode[camera_tracking_btn23]);
	to halted

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

	from Action_camera_tracking
		// Trace index: 202, trace level: 3
		// Btnode Action 'camera_tracking_btn23' calling its action (start task)
		ignorep := fiacre_c_print_trace(202);
		start Fiacre_Action_camera_tracking_task (btnode[camera_tracking_btn23]);
	to Action_camera_tracking_sync

	from Action_camera_tracking_sync
		sync Fiacre_Action_camera_tracking_task ret_val;
		// Trace index: 203, trace level: 3
		// Btnode Action 'camera_tracking_btn23' returned (sync task)
		ignorep := fiacre_c_print_trace(203);
		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: 204, trace level: 2
		// Btnode Action 'camera_tracking_btn23' returns success.
		ignorep := fiacre_c_print_trace(204);
		btnode[camera_tracking_btn23].rstatus := success;
		ignorep := fiacre_graphic_trace(25,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 205, trace level: 2
			// Btnode Action 'camera_tracking_btn23' returns halted failure.
			ignorep := fiacre_c_print_trace(205);
			ignorep := fiacre_graphic_trace(25,ns_halted);
			null
		else
			// Trace index: 206, trace level: 2
			// Btnode Action 'camera_tracking_btn23' returns failure.
			ignorep := fiacre_c_print_trace(206);
			ignorep := fiacre_graphic_trace(25,ns_failure);
			null
		end;
		btnode[camera_tracking_btn23].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 207, trace level: 2
		// Btnode Action 'camera_tracking_btn23' has been halted.
		ignorep := fiacre_c_print_trace(207);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 208, trace level: 3
		// Btnode Action 'camera_tracking_btn23' returns running.
		ignorep := fiacre_c_print_trace(208);
		ignorep := fiacre_graphic_trace(25,ns_running);
		btnode[camera_tracking_btn23].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 209, trace level: 3
		// Btnode Action 'camera_tracking_btn23' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(209);
		btnode[camera_tracking_btn23].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Eval53_btn26 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) is

	states start_, tick_node, success, halt, halted,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Eval53_btn26].caller <> None);
		report_halted := false;
		if (btnode[Eval53_btn26].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 210, trace level: 3
		// Btnode Eval 'Eval53_btn26' has been called 
		ignorep := fiacre_c_print_trace(210);
		btnode[Eval53_btn26].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 211, trace level: 3
		// Btnode Eval 'Eval53_btn26' is being halted 
		ignorep := fiacre_c_print_trace(211);
		ignorep := fiacre_graphic_trace(28,ns_halt);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(28,ns_ticked);
		// Trace index: 212, trace level: 3
		// Btnode Eval 'Eval53_btn26' evaluating expression (:= fls (+ 1 fls))
		ignorep := fiacre_c_print_trace(212);
		// will assign: fls := (1 + fls)
		// Trace index: 213, trace level: 4
		// Btnode Eval 'Eval53_btn26' assign 'fls := (1 + fls)'
		ignorep := fiacre_c_print_trace(213);
		fls := (1 + fls);
		to success

	from success
		wait [0,0];
		// Trace index: 214, trace level: 2
		// Btnode Eval 'Eval53_btn26' returns success.
		ignorep := fiacre_c_print_trace(214);
		btnode[Eval53_btn26].rstatus := success;
		ignorep := fiacre_graphic_trace(28,ns_success);
		to done

	from done
		wait [0,0];
		// Trace index: 215, trace level: 3
		// Btnode Eval 'Eval53_btn26' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(215);
		btnode[Eval53_btn26].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn27 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn27].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn27].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 216, trace level: 3
		// Btnode Action 'goto_waypoint_btn27' has been called (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(216);
		btnode[goto_waypoint_btn27].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 217, trace level: 3
		// Btnode Action 'goto_waypoint_btn27' is being halted (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(217);
		ignorep := fiacre_graphic_trace(29,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn27]);
	to halted

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

	from Action_goto_waypoint
		// synthesized action arg index  3
		btnode[goto_waypoint_btn27].ArgIndex := 3;
		// Trace index: 218, trace level: 3
		// Btnode Action 'goto_waypoint_btn27' calling its action (start task)
		ignorep := fiacre_c_print_trace(218);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn27]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 219, trace level: 3
		// Btnode Action 'goto_waypoint_btn27' returned (sync task)
		ignorep := fiacre_c_print_trace(219);
		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: 220, trace level: 2
		// Btnode Action 'goto_waypoint_btn27' (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(220);
		btnode[goto_waypoint_btn27].rstatus := success;
		ignorep := fiacre_graphic_trace(29,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 221, trace level: 2
			// Btnode Action 'goto_waypoint_btn27' (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(221);
			ignorep := fiacre_graphic_trace(29,ns_halted);
			null
		else
			// Trace index: 222, trace level: 2
			// Btnode Action 'goto_waypoint_btn27' (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(222);
			ignorep := fiacre_graphic_trace(29,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn27].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 223, trace level: 2
		// Btnode Action 'goto_waypoint_btn27' (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(223);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 224, trace level: 3
		// Btnode Action 'goto_waypoint_btn27' (:x -3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(224);
		ignorep := fiacre_graphic_trace(29,ns_running);
		btnode[goto_waypoint_btn27].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 225, trace level: 3
		// Btnode Action 'goto_waypoint_btn27' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(225);
		btnode[goto_waypoint_btn27].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn28 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn28].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn28].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 226, trace level: 3
		// Btnode Action 'goto_waypoint_btn28' has been called (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(226);
		btnode[goto_waypoint_btn28].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 227, trace level: 3
		// Btnode Action 'goto_waypoint_btn28' is being halted (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(227);
		ignorep := fiacre_graphic_trace(30,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn28]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(30,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  4
		btnode[goto_waypoint_btn28].ArgIndex := 4;
		// Trace index: 228, trace level: 3
		// Btnode Action 'goto_waypoint_btn28' calling its action (start task)
		ignorep := fiacre_c_print_trace(228);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn28]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 229, trace level: 3
		// Btnode Action 'goto_waypoint_btn28' returned (sync task)
		ignorep := fiacre_c_print_trace(229);
		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: 230, trace level: 2
		// Btnode Action 'goto_waypoint_btn28' (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(230);
		btnode[goto_waypoint_btn28].rstatus := success;
		ignorep := fiacre_graphic_trace(30,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 231, trace level: 2
			// Btnode Action 'goto_waypoint_btn28' (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(231);
			ignorep := fiacre_graphic_trace(30,ns_halted);
			null
		else
			// Trace index: 232, trace level: 2
			// Btnode Action 'goto_waypoint_btn28' (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(232);
			ignorep := fiacre_graphic_trace(30,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn28].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 233, trace level: 2
		// Btnode Action 'goto_waypoint_btn28' (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(233);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 234, trace level: 3
		// Btnode Action 'goto_waypoint_btn28' (:x -1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(234);
		ignorep := fiacre_graphic_trace(30,ns_running);
		btnode[goto_waypoint_btn28].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 235, trace level: 3
		// Btnode Action 'goto_waypoint_btn28' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(235);
		btnode[goto_waypoint_btn28].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn29 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn29].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn29].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 236, trace level: 3
		// Btnode Action 'goto_waypoint_btn29' has been called (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(236);
		btnode[goto_waypoint_btn29].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 237, trace level: 3
		// Btnode Action 'goto_waypoint_btn29' is being halted (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(237);
		ignorep := fiacre_graphic_trace(31,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn29]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(31,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  5
		btnode[goto_waypoint_btn29].ArgIndex := 5;
		// Trace index: 238, trace level: 3
		// Btnode Action 'goto_waypoint_btn29' calling its action (start task)
		ignorep := fiacre_c_print_trace(238);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn29]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 239, trace level: 3
		// Btnode Action 'goto_waypoint_btn29' returned (sync task)
		ignorep := fiacre_c_print_trace(239);
		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: 240, trace level: 2
		// Btnode Action 'goto_waypoint_btn29' (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(240);
		btnode[goto_waypoint_btn29].rstatus := success;
		ignorep := fiacre_graphic_trace(31,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 241, trace level: 2
			// Btnode Action 'goto_waypoint_btn29' (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(241);
			ignorep := fiacre_graphic_trace(31,ns_halted);
			null
		else
			// Trace index: 242, trace level: 2
			// Btnode Action 'goto_waypoint_btn29' (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(242);
			ignorep := fiacre_graphic_trace(31,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn29].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 243, trace level: 2
		// Btnode Action 'goto_waypoint_btn29' (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(243);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 244, trace level: 3
		// Btnode Action 'goto_waypoint_btn29' (:x 0  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(244);
		ignorep := fiacre_graphic_trace(31,ns_running);
		btnode[goto_waypoint_btn29].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 245, trace level: 3
		// Btnode Action 'goto_waypoint_btn29' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(245);
		btnode[goto_waypoint_btn29].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn30 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn30].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn30].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 246, trace level: 3
		// Btnode Action 'goto_waypoint_btn30' has been called (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(246);
		btnode[goto_waypoint_btn30].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 247, trace level: 3
		// Btnode Action 'goto_waypoint_btn30' is being halted (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(247);
		ignorep := fiacre_graphic_trace(32,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn30]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(32,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  6
		btnode[goto_waypoint_btn30].ArgIndex := 6;
		// Trace index: 248, trace level: 3
		// Btnode Action 'goto_waypoint_btn30' calling its action (start task)
		ignorep := fiacre_c_print_trace(248);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn30]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 249, trace level: 3
		// Btnode Action 'goto_waypoint_btn30' returned (sync task)
		ignorep := fiacre_c_print_trace(249);
		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: 250, trace level: 2
		// Btnode Action 'goto_waypoint_btn30' (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(250);
		btnode[goto_waypoint_btn30].rstatus := success;
		ignorep := fiacre_graphic_trace(32,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 251, trace level: 2
			// Btnode Action 'goto_waypoint_btn30' (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(251);
			ignorep := fiacre_graphic_trace(32,ns_halted);
			null
		else
			// Trace index: 252, trace level: 2
			// Btnode Action 'goto_waypoint_btn30' (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(252);
			ignorep := fiacre_graphic_trace(32,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn30].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 253, trace level: 2
		// Btnode Action 'goto_waypoint_btn30' (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(253);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 254, trace level: 3
		// Btnode Action 'goto_waypoint_btn30' (:x 1.500000  :y 3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(254);
		ignorep := fiacre_graphic_trace(32,ns_running);
		btnode[goto_waypoint_btn30].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 255, trace level: 3
		// Btnode Action 'goto_waypoint_btn30' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(255);
		btnode[goto_waypoint_btn30].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn31 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn31].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn31].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 256, trace level: 3
		// Btnode Action 'goto_waypoint_btn31' has been called (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(256);
		btnode[goto_waypoint_btn31].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 257, trace level: 3
		// Btnode Action 'goto_waypoint_btn31' is being halted (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(257);
		ignorep := fiacre_graphic_trace(33,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn31]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(33,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  7
		btnode[goto_waypoint_btn31].ArgIndex := 7;
		// Trace index: 258, trace level: 3
		// Btnode Action 'goto_waypoint_btn31' calling its action (start task)
		ignorep := fiacre_c_print_trace(258);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn31]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 259, trace level: 3
		// Btnode Action 'goto_waypoint_btn31' returned (sync task)
		ignorep := fiacre_c_print_trace(259);
		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: 260, trace level: 2
		// Btnode Action 'goto_waypoint_btn31' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(260);
		btnode[goto_waypoint_btn31].rstatus := success;
		ignorep := fiacre_graphic_trace(33,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 261, trace level: 2
			// Btnode Action 'goto_waypoint_btn31' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(261);
			ignorep := fiacre_graphic_trace(33,ns_halted);
			null
		else
			// Trace index: 262, trace level: 2
			// Btnode Action 'goto_waypoint_btn31' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(262);
			ignorep := fiacre_graphic_trace(33,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn31].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 263, trace level: 2
		// Btnode Action 'goto_waypoint_btn31' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(263);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 264, trace level: 3
		// Btnode Action 'goto_waypoint_btn31' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(264);
		ignorep := fiacre_graphic_trace(33,ns_running);
		btnode[goto_waypoint_btn31].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 265, trace level: 3
		// Btnode Action 'goto_waypoint_btn31' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(265);
		btnode[goto_waypoint_btn31].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn32 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn32].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn32].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 266, trace level: 3
		// Btnode Action 'goto_waypoint_btn32' has been called (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(266);
		btnode[goto_waypoint_btn32].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 267, trace level: 3
		// Btnode Action 'goto_waypoint_btn32' is being halted (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) 
		ignorep := fiacre_c_print_trace(267);
		ignorep := fiacre_graphic_trace(34,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn32]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(34,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  8
		btnode[goto_waypoint_btn32].ArgIndex := 8;
		// Trace index: 268, trace level: 3
		// Btnode Action 'goto_waypoint_btn32' calling its action (start task)
		ignorep := fiacre_c_print_trace(268);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn32]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 269, trace level: 3
		// Btnode Action 'goto_waypoint_btn32' returned (sync task)
		ignorep := fiacre_c_print_trace(269);
		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: 270, trace level: 2
		// Btnode Action 'goto_waypoint_btn32' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(270);
		btnode[goto_waypoint_btn32].rstatus := success;
		ignorep := fiacre_graphic_trace(34,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 271, trace level: 2
			// Btnode Action 'goto_waypoint_btn32' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(271);
			ignorep := fiacre_graphic_trace(34,ns_halted);
			null
		else
			// Trace index: 272, trace level: 2
			// Btnode Action 'goto_waypoint_btn32' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(272);
			ignorep := fiacre_graphic_trace(34,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn32].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 273, trace level: 2
		// Btnode Action 'goto_waypoint_btn32' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(273);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 274, trace level: 3
		// Btnode Action 'goto_waypoint_btn32' (:x 3  :y -3  :z (* 2 {$fls->NULL})  :yaw 0  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(274);
		ignorep := fiacre_graphic_trace(34,ns_running);
		btnode[goto_waypoint_btn32].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 275, trace level: 3
		// Btnode Action 'goto_waypoint_btn32' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(275);
		btnode[goto_waypoint_btn32].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Sequence51_btn25 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		Eval53_btn26, Eval53_btn26_done,
		goto_waypoint_btn27, goto_waypoint_btn27_done,
		goto_waypoint_btn28, goto_waypoint_btn28_done,
		goto_waypoint_btn29, goto_waypoint_btn29_done,
		goto_waypoint_btn30, goto_waypoint_btn30_done,
		goto_waypoint_btn31, goto_waypoint_btn31_done,
		goto_waypoint_btn32, goto_waypoint_btn32_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		report_halted:bool := false,
		next_seq: 1..8 := 1

	from start_
		wait [0,0];
		on (btnode[Sequence51_btn25].caller <> None);
		report_halted := false;
		if (btnode[Sequence51_btn25].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 276, trace level: 3
		// Btnode Sequence 'Sequence51_btn25' has been called 
		ignorep := fiacre_c_print_trace(276);
		btnode[Sequence51_btn25].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 277, trace level: 3
		// Btnode Sequence 'Sequence51_btn25' is being halted 
		ignorep := fiacre_c_print_trace(277);
		ignorep := fiacre_graphic_trace(27,ns_halt);
		if (btnode[Eval53_btn26].rstatus = running) then
			// Trace index: 278, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Eval 'Eval53_btn26'
			ignorep := fiacre_c_print_trace(278);
			btnode[Eval53_btn26].rstatus := halt_me;
			btnode[Eval53_btn26].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn27].rstatus = running) then
			// Trace index: 279, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Action 'goto_waypoint_btn27'
			ignorep := fiacre_c_print_trace(279);
			btnode[goto_waypoint_btn27].rstatus := halt_me;
			btnode[goto_waypoint_btn27].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn28].rstatus = running) then
			// Trace index: 280, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Action 'goto_waypoint_btn28'
			ignorep := fiacre_c_print_trace(280);
			btnode[goto_waypoint_btn28].rstatus := halt_me;
			btnode[goto_waypoint_btn28].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn29].rstatus = running) then
			// Trace index: 281, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Action 'goto_waypoint_btn29'
			ignorep := fiacre_c_print_trace(281);
			btnode[goto_waypoint_btn29].rstatus := halt_me;
			btnode[goto_waypoint_btn29].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn30].rstatus = running) then
			// Trace index: 282, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Action 'goto_waypoint_btn30'
			ignorep := fiacre_c_print_trace(282);
			btnode[goto_waypoint_btn30].rstatus := halt_me;
			btnode[goto_waypoint_btn30].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn31].rstatus = running) then
			// Trace index: 283, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Action 'goto_waypoint_btn31'
			ignorep := fiacre_c_print_trace(283);
			btnode[goto_waypoint_btn31].rstatus := halt_me;
			btnode[goto_waypoint_btn31].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn32].rstatus = running) then
			// Trace index: 284, trace level: 4
			// Btnode Sequence 'Sequence51_btn25' halting Action 'goto_waypoint_btn32'
			ignorep := fiacre_c_print_trace(284);
			btnode[goto_waypoint_btn32].rstatus := halt_me;
			btnode[goto_waypoint_btn32].caller := caller_Sequence51_btn25;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[Eval53_btn26].caller = None) and
			(btnode[goto_waypoint_btn27].caller = None) and
			(btnode[goto_waypoint_btn28].caller = None) and
			(btnode[goto_waypoint_btn29].caller = None) and
			(btnode[goto_waypoint_btn30].caller = None) and
			(btnode[goto_waypoint_btn31].caller = None) and
			(btnode[goto_waypoint_btn32].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		if (next_seq = 1) then to Eval53_btn26 end;
		if (next_seq = 2) then to goto_waypoint_btn27 end;
		if (next_seq = 3) then to goto_waypoint_btn28 end;
		if (next_seq = 4) then to goto_waypoint_btn29 end;
		if (next_seq = 5) then to goto_waypoint_btn30 end;
		if (next_seq = 6) then to goto_waypoint_btn31 end;
		if (next_seq = 7) then to goto_waypoint_btn32 end;
		to error

	from Eval53_btn26
		wait [0,0];
		// Trace index: 285, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Eval 'Eval53_btn26'
		ignorep := fiacre_c_print_trace(285);
		btnode[Eval53_btn26].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to Eval53_btn26_done

	from Eval53_btn26_done
		wait [0,0];
		on (btnode[Eval53_btn26].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 286, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Eval 'Eval53_btn26'
		ignorep := fiacre_c_print_trace(286);
		if (btnode[Eval53_btn26].rstatus = success) then
			to goto_waypoint_btn27
		elsif (btnode[Eval53_btn26].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Eval53_btn26].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from goto_waypoint_btn27
		wait [0,0];
		// Trace index: 287, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Action 'goto_waypoint_btn27'
		ignorep := fiacre_c_print_trace(287);
		btnode[goto_waypoint_btn27].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to goto_waypoint_btn27_done

	from goto_waypoint_btn27_done
		wait [0,0];
		on (btnode[goto_waypoint_btn27].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 288, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Action 'goto_waypoint_btn27'
		ignorep := fiacre_c_print_trace(288);
		if (btnode[goto_waypoint_btn27].rstatus = success) then
			to goto_waypoint_btn28
		elsif (btnode[goto_waypoint_btn27].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn27].rstatus = running) then
			next_seq := 2;
			to running
		else
			to error
		end

	from goto_waypoint_btn28
		wait [0,0];
		// Trace index: 289, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Action 'goto_waypoint_btn28'
		ignorep := fiacre_c_print_trace(289);
		btnode[goto_waypoint_btn28].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to goto_waypoint_btn28_done

	from goto_waypoint_btn28_done
		wait [0,0];
		on (btnode[goto_waypoint_btn28].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 290, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Action 'goto_waypoint_btn28'
		ignorep := fiacre_c_print_trace(290);
		if (btnode[goto_waypoint_btn28].rstatus = success) then
			to goto_waypoint_btn29
		elsif (btnode[goto_waypoint_btn28].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn28].rstatus = running) then
			next_seq := 3;
			to running
		else
			to error
		end

	from goto_waypoint_btn29
		wait [0,0];
		// Trace index: 291, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Action 'goto_waypoint_btn29'
		ignorep := fiacre_c_print_trace(291);
		btnode[goto_waypoint_btn29].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to goto_waypoint_btn29_done

	from goto_waypoint_btn29_done
		wait [0,0];
		on (btnode[goto_waypoint_btn29].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 292, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Action 'goto_waypoint_btn29'
		ignorep := fiacre_c_print_trace(292);
		if (btnode[goto_waypoint_btn29].rstatus = success) then
			to goto_waypoint_btn30
		elsif (btnode[goto_waypoint_btn29].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn29].rstatus = running) then
			next_seq := 4;
			to running
		else
			to error
		end

	from goto_waypoint_btn30
		wait [0,0];
		// Trace index: 293, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Action 'goto_waypoint_btn30'
		ignorep := fiacre_c_print_trace(293);
		btnode[goto_waypoint_btn30].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to goto_waypoint_btn30_done

	from goto_waypoint_btn30_done
		wait [0,0];
		on (btnode[goto_waypoint_btn30].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 294, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Action 'goto_waypoint_btn30'
		ignorep := fiacre_c_print_trace(294);
		if (btnode[goto_waypoint_btn30].rstatus = success) then
			to goto_waypoint_btn31
		elsif (btnode[goto_waypoint_btn30].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn30].rstatus = running) then
			next_seq := 5;
			to running
		else
			to error
		end

	from goto_waypoint_btn31
		wait [0,0];
		// Trace index: 295, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Action 'goto_waypoint_btn31'
		ignorep := fiacre_c_print_trace(295);
		btnode[goto_waypoint_btn31].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to goto_waypoint_btn31_done

	from goto_waypoint_btn31_done
		wait [0,0];
		on (btnode[goto_waypoint_btn31].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 296, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Action 'goto_waypoint_btn31'
		ignorep := fiacre_c_print_trace(296);
		if (btnode[goto_waypoint_btn31].rstatus = success) then
			to goto_waypoint_btn32
		elsif (btnode[goto_waypoint_btn31].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn31].rstatus = running) then
			next_seq := 6;
			to running
		else
			to error
		end

	from goto_waypoint_btn32
		wait [0,0];
		// Trace index: 297, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' calling Action 'goto_waypoint_btn32'
		ignorep := fiacre_c_print_trace(297);
		btnode[goto_waypoint_btn32].caller := caller_Sequence51_btn25;
		ignorep := fiacre_graphic_trace(27,ns_tick_passed);
		to goto_waypoint_btn32_done

	from goto_waypoint_btn32_done
		wait [0,0];
		on (btnode[goto_waypoint_btn32].caller = None);
		ignorep := fiacre_graphic_trace(27,ns_ticked);
		// Trace index: 298, trace level: 4
		// Btnode Sequence 'Sequence51_btn25' getting control back from Action 'goto_waypoint_btn32'
		ignorep := fiacre_c_print_trace(298);
		if (btnode[goto_waypoint_btn32].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[goto_waypoint_btn32].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn32].rstatus = running) then
			next_seq := 7;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 299, trace level: 2
		// Btnode Sequence 'Sequence51_btn25' returns success.
		ignorep := fiacre_c_print_trace(299);
		btnode[Sequence51_btn25].rstatus := success;
		ignorep := fiacre_graphic_trace(27,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 300, trace level: 2
			// Btnode Sequence 'Sequence51_btn25' returns halted failure.
			ignorep := fiacre_c_print_trace(300);
			ignorep := fiacre_graphic_trace(27,ns_halted);
			null
		else
			// Trace index: 301, trace level: 2
			// Btnode Sequence 'Sequence51_btn25' returns failure.
			ignorep := fiacre_c_print_trace(301);
			ignorep := fiacre_graphic_trace(27,ns_failure);
			null
		end;
		btnode[Sequence51_btn25].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 302, trace level: 2
		// Btnode Sequence 'Sequence51_btn25' has been halted.
		ignorep := fiacre_c_print_trace(302);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 303, trace level: 3
		// Btnode Sequence 'Sequence51_btn25' returns running.
		ignorep := fiacre_c_print_trace(303);
		ignorep := fiacre_graphic_trace(27,ns_running);
		btnode[Sequence51_btn25].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 304, trace level: 3
		// Btnode Sequence 'Sequence51_btn25' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(304);
		btnode[Sequence51_btn25].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Repeat49_btn24 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		Sequence51_btn25, Sequence51_btn25_done,
		done, ether

	var ignorep: nat, ignoreb: bool,
		rep: 0..3 := 0, repeat: 3..3 := 3,
		report_halted:bool := false

	from start_
		wait [0,0];
		on (btnode[Repeat49_btn24].caller <> None);
		report_halted := false;
		if (btnode[Repeat49_btn24].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 305, trace level: 3
		// Btnode Repeat 'Repeat49_btn24' has been called 
		ignorep := fiacre_c_print_trace(305);
		btnode[Repeat49_btn24].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 306, trace level: 3
		// Btnode Repeat 'Repeat49_btn24' is being halted 
		ignorep := fiacre_c_print_trace(306);
		ignorep := fiacre_graphic_trace(26,ns_halt);
		if (btnode[Sequence51_btn25].rstatus = running) then
			// Trace index: 307, trace level: 4
			// Btnode Repeat 'Repeat49_btn24' halting Sequence 'Sequence51_btn25'
			ignorep := fiacre_c_print_trace(307);
			btnode[Sequence51_btn25].rstatus := halt_me;
			btnode[Sequence51_btn25].caller := caller_Repeat49_btn24;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (btnode[Sequence51_btn25].caller = None);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(26,ns_ticked);
	to Sequence51_btn25

	from Sequence51_btn25
		wait [0,0];
		// Trace index: 308, trace level: 4
		// Btnode Repeat 'Repeat49_btn24' calling Sequence 'Sequence51_btn25'
		ignorep := fiacre_c_print_trace(308);
		btnode[Sequence51_btn25].caller := caller_Repeat49_btn24;
		ignorep := fiacre_graphic_trace(26,ns_tick_passed);
		to Sequence51_btn25_done

	from Sequence51_btn25_done
		wait [0,0];
		on (btnode[Sequence51_btn25].caller = None);
		// Trace index: 309, trace level: 4
		// Btnode Repeat 'Repeat49_btn24' getting control back from Sequence 'Sequence51_btn25'
		ignorep := fiacre_c_print_trace(309);
		if (btnode[Sequence51_btn25].rstatus = success) then
			rep := rep + 1 ;
			if (rep = repeat) then
				rep := 0;
				to success
			end;
			to tick_node
		elsif (btnode[Sequence51_btn25].rstatus = failure) then
			rep := 0;
			to failure
		elsif (btnode[Sequence51_btn25].rstatus = running) then
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 310, trace level: 2
		// Btnode Repeat 'Repeat49_btn24' returns success.
		ignorep := fiacre_c_print_trace(310);
		btnode[Repeat49_btn24].rstatus := success;
		ignorep := fiacre_graphic_trace(26,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 311, trace level: 2
			// Btnode Repeat 'Repeat49_btn24' returns halted failure.
			ignorep := fiacre_c_print_trace(311);
			ignorep := fiacre_graphic_trace(26,ns_halted);
			null
		else
			// Trace index: 312, trace level: 2
			// Btnode Repeat 'Repeat49_btn24' returns failure.
			ignorep := fiacre_c_print_trace(312);
			ignorep := fiacre_graphic_trace(26,ns_failure);
			null
		end;
		btnode[Repeat49_btn24].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 313, trace level: 2
		// Btnode Repeat 'Repeat49_btn24' has been halted.
		ignorep := fiacre_c_print_trace(313);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 314, trace level: 3
		// Btnode Repeat 'Repeat49_btn24' returns running.
		ignorep := fiacre_c_print_trace(314);
		ignorep := fiacre_graphic_trace(26,ns_running);
		btnode[Repeat49_btn24].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 315, trace level: 3
		// Btnode Repeat 'Repeat49_btn24' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(315);
		btnode[Repeat49_btn24].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Parallel45_btn22 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait,
		running, Parallel45_btn22_par, Parallel45_btn22_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[Parallel45_btn22].caller <> None);
		report_halted := false;
		if (btnode[Parallel45_btn22].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 316, trace level: 3
		// Btnode Parallel 'Parallel45_btn22' has been called 
		ignorep := fiacre_c_print_trace(316);
		btnode[Parallel45_btn22].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 317, trace level: 3
		// Btnode Parallel 'Parallel45_btn22' is being halted 
		ignorep := fiacre_c_print_trace(317);
		ignorep := fiacre_graphic_trace(24,ns_halt);
		if (btnode[camera_tracking_btn23].rstatus = running) then
			// Trace index: 318, trace level: 4
			// Btnode Parallel 'Parallel45_btn22' halting Action 'camera_tracking_btn23'
			ignorep := fiacre_c_print_trace(318);
			btnode[camera_tracking_btn23].rstatus := halt_me;
			btnode[camera_tracking_btn23].caller := caller_Parallel45_btn22
		end;
		if (btnode[Repeat49_btn24].rstatus = running) then
			// Trace index: 319, trace level: 4
			// Btnode Parallel 'Parallel45_btn22' halting Repeat 'Repeat49_btn24'
			ignorep := fiacre_c_print_trace(319);
			btnode[Repeat49_btn24].rstatus := halt_me;
			btnode[Repeat49_btn24].caller := caller_Parallel45_btn22
		end;
		to halt_wait

	from halt_wait
		on (
			(btnode[camera_tracking_btn23].caller = None) and
			(btnode[Repeat49_btn24].caller = None) and
			true);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(24,ns_ticked);
	to Parallel45_btn22_par

	from Parallel45_btn22_par
		wait [0,0];
		if (runningb) then
			if (btnode[camera_tracking_btn23].rstatus = running) then
				// Trace index: 320, trace level: 4
				// Btnode Parallel 'Parallel45_btn22' calling again Action 'camera_tracking_btn23'
				ignorep := fiacre_c_print_trace(320);
				btnode[camera_tracking_btn23].caller := caller_Parallel45_btn22
			end;
			if (btnode[Repeat49_btn24].rstatus = running) then
				// Trace index: 321, trace level: 4
				// Btnode Parallel 'Parallel45_btn22' calling again Repeat 'Repeat49_btn24'
				ignorep := fiacre_c_print_trace(321);
				btnode[Repeat49_btn24].caller := caller_Parallel45_btn22
			end;
			null
		else
			// Trace index: 322, trace level: 4
			// Btnode Parallel 'Parallel45_btn22' calling Action 'camera_tracking_btn23'
			ignorep := fiacre_c_print_trace(322);
			btnode[camera_tracking_btn23].caller := caller_Parallel45_btn22;
			// Trace index: 323, trace level: 4
			// Btnode Parallel 'Parallel45_btn22' calling Repeat 'Repeat49_btn24'
			ignorep := fiacre_c_print_trace(323);
			btnode[Repeat49_btn24].caller := caller_Parallel45_btn22;
			null
		end;
		ignorep := fiacre_graphic_trace(24,ns_tick_passed);
		to Parallel45_btn22_par_done

	from Parallel45_btn22_par_done
		wait [0,0];
		on (
			(btnode[camera_tracking_btn23].caller = None) and
			(btnode[Repeat49_btn24].caller = None) and
			true);
		ignorep := fiacre_graphic_trace(24,ns_ticked);
		// Trace index: 324, trace level: 4
		// Btnode Parallel 'Parallel45_btn22' getting control back from Action 'camera_tracking_btn23'
		ignorep := fiacre_c_print_trace(324);
		// Trace index: 325, trace level: 4
		// Btnode Parallel 'Parallel45_btn22' getting control back from Repeat 'Repeat49_btn24'
		ignorep := fiacre_c_print_trace(325);
		success_so_far := 0; failed_so_far := 0;
		if (btnode[camera_tracking_btn23].rstatus = success) then success_so_far := success_so_far + 1
		elsif (btnode[camera_tracking_btn23].rstatus = failure) then failed_so_far := failed_so_far + 1 end; 
		if (btnode[Repeat49_btn24].rstatus = success) then success_so_far := success_so_far + 1
		elsif (btnode[Repeat49_btn24].rstatus = failure) then failed_so_far := failed_so_far + 1 end; 
		if (success_so_far >= 1) then
			// Trace index: 326, trace level: 3
			// Btnode Parallel 'Parallel45_btn22' has enough success: >= 1
			ignorep := fiacre_c_print_trace(326);
			halt_called_by_me := true;
			force_success := true;
			to halt
		elsif (failed_so_far > 1) then
			// Trace index: 327, trace level: 3
			// Btnode Parallel 'Parallel45_btn22' has too many failure(s): > 1
			ignorep := fiacre_c_print_trace(327);
			to failure
		else
			runningb := true;
			to running
		end

	from success
		wait [0,0];
		// Trace index: 328, trace level: 2
		// Btnode Parallel 'Parallel45_btn22' returns success.
		ignorep := fiacre_c_print_trace(328);
		btnode[Parallel45_btn22].rstatus := success;
		ignorep := fiacre_graphic_trace(24,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 329, trace level: 2
			// Btnode Parallel 'Parallel45_btn22' returns halted failure.
			ignorep := fiacre_c_print_trace(329);
			ignorep := fiacre_graphic_trace(24,ns_halted);
			null
		else
			// Trace index: 330, trace level: 2
			// Btnode Parallel 'Parallel45_btn22' returns failure.
			ignorep := fiacre_c_print_trace(330);
			ignorep := fiacre_graphic_trace(24,ns_failure);
			null
		end;
		btnode[Parallel45_btn22].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 331, trace level: 2
		// Btnode Parallel 'Parallel45_btn22' has been halted.
		ignorep := fiacre_c_print_trace(331);
		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: 332, trace level: 3
		// Btnode Parallel 'Parallel45_btn22' returns running.
		ignorep := fiacre_c_print_trace(332);
		ignorep := fiacre_graphic_trace(24,ns_running);
		btnode[Parallel45_btn22].rstatus := running;
		to done

	from done
		wait [0,0];
		halt_called_by_me := false;
		force_success := false;
		// Trace index: 333, trace level: 3
		// Btnode Parallel 'Parallel45_btn22' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(333);
		btnode[Parallel45_btn22].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_goto_waypoint_btn33 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn33].caller <> None);
		report_halted := false;
		if (btnode[goto_waypoint_btn33].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 334, trace level: 3
		// Btnode Action 'goto_waypoint_btn33' has been called (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(334);
		btnode[goto_waypoint_btn33].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 335, trace level: 3
		// Btnode Action 'goto_waypoint_btn33' is being halted (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) 
		ignorep := fiacre_c_print_trace(335);
		ignorep := fiacre_graphic_trace(35,ns_halt);
		ignoreb := Fiacre_Action_goto_waypoint_halt (btnode[goto_waypoint_btn33]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(35,ns_ticked);
		to Action_goto_waypoint

	from Action_goto_waypoint
		// synthesized action arg index  9
		btnode[goto_waypoint_btn33].ArgIndex := 9;
		// Trace index: 336, trace level: 3
		// Btnode Action 'goto_waypoint_btn33' calling its action (start task)
		ignorep := fiacre_c_print_trace(336);
		start Fiacre_Action_goto_waypoint_task (btnode[goto_waypoint_btn33]);
	to Action_goto_waypoint_sync

	from Action_goto_waypoint_sync
		sync Fiacre_Action_goto_waypoint_task ret_val;
		// Trace index: 337, trace level: 3
		// Btnode Action 'goto_waypoint_btn33' returned (sync task)
		ignorep := fiacre_c_print_trace(337);
		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: 338, trace level: 2
		// Btnode Action 'goto_waypoint_btn33' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns success.
		ignorep := fiacre_c_print_trace(338);
		btnode[goto_waypoint_btn33].rstatus := success;
		ignorep := fiacre_graphic_trace(35,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 339, trace level: 2
			// Btnode Action 'goto_waypoint_btn33' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns halted failure.
			ignorep := fiacre_c_print_trace(339);
			ignorep := fiacre_graphic_trace(35,ns_halted);
			null
		else
			// Trace index: 340, trace level: 2
			// Btnode Action 'goto_waypoint_btn33' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns failure.
			ignorep := fiacre_c_print_trace(340);
			ignorep := fiacre_graphic_trace(35,ns_failure);
			null
		end;
		btnode[goto_waypoint_btn33].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 341, trace level: 2
		// Btnode Action 'goto_waypoint_btn33' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) has been halted.
		ignorep := fiacre_c_print_trace(341);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 342, trace level: 3
		// Btnode Action 'goto_waypoint_btn33' (:x 0  :y 0  :z 5  :yaw 1.400000  :duration 0 ) returns running.
		ignorep := fiacre_c_print_trace(342);
		ignorep := fiacre_graphic_trace(35,ns_running);
		btnode[goto_waypoint_btn33].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 343, trace level: 3
		// Btnode Action 'goto_waypoint_btn33' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(343);
		btnode[goto_waypoint_btn33].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_land_btn34 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn34].caller <> None);
		report_halted := false;
		if (btnode[land_btn34].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 344, trace level: 3
		// Btnode Action 'land_btn34' has been called 
		ignorep := fiacre_c_print_trace(344);
		btnode[land_btn34].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 345, trace level: 3
		// Btnode Action 'land_btn34' is being halted 
		ignorep := fiacre_c_print_trace(345);
		ignorep := fiacre_graphic_trace(36,ns_halt);
		ignoreb := Fiacre_Action_land_halt (btnode[land_btn34]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(36,ns_ticked);
		to Action_land

	from Action_land
		// Trace index: 346, trace level: 3
		// Btnode Action 'land_btn34' calling its action (start task)
		ignorep := fiacre_c_print_trace(346);
		start Fiacre_Action_land_task (btnode[land_btn34]);
	to Action_land_sync

	from Action_land_sync
		sync Fiacre_Action_land_task ret_val;
		// Trace index: 347, trace level: 3
		// Btnode Action 'land_btn34' returned (sync task)
		ignorep := fiacre_c_print_trace(347);
		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: 348, trace level: 2
		// Btnode Action 'land_btn34' returns success.
		ignorep := fiacre_c_print_trace(348);
		btnode[land_btn34].rstatus := success;
		ignorep := fiacre_graphic_trace(36,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 349, trace level: 2
			// Btnode Action 'land_btn34' returns halted failure.
			ignorep := fiacre_c_print_trace(349);
			ignorep := fiacre_graphic_trace(36,ns_halted);
			null
		else
			// Trace index: 350, trace level: 2
			// Btnode Action 'land_btn34' returns failure.
			ignorep := fiacre_c_print_trace(350);
			ignorep := fiacre_graphic_trace(36,ns_failure);
			null
		end;
		btnode[land_btn34].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 351, trace level: 2
		// Btnode Action 'land_btn34' has been halted.
		ignorep := fiacre_c_print_trace(351);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 352, trace level: 3
		// Btnode Action 'land_btn34' returns running.
		ignorep := fiacre_c_print_trace(352);
		ignorep := fiacre_graphic_trace(36,ns_running);
		btnode[land_btn34].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 353, trace level: 3
		// Btnode Action 'land_btn34' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(353);
		btnode[land_btn34].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_shutdown_drone_btn35 (&btnode: btnode_array, &fls: sv_fls, &battery: sv_battery) 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_btn35].caller <> None);
		report_halted := false;
		if (btnode[shutdown_drone_btn35].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 354, trace level: 3
		// Btnode Action 'shutdown_drone_btn35' has been called 
		ignorep := fiacre_c_print_trace(354);
		btnode[shutdown_drone_btn35].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 355, trace level: 3
		// Btnode Action 'shutdown_drone_btn35' is being halted 
		ignorep := fiacre_c_print_trace(355);
		ignorep := fiacre_graphic_trace(37,ns_halt);
		ignoreb := Fiacre_Action_shutdown_drone_halt (btnode[shutdown_drone_btn35]);
	to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(37,ns_ticked);
		to Action_shutdown_drone

	from Action_shutdown_drone
		// Trace index: 356, trace level: 3
		// Btnode Action 'shutdown_drone_btn35' calling its action (start task)
		ignorep := fiacre_c_print_trace(356);
		start Fiacre_Action_shutdown_drone_task (btnode[shutdown_drone_btn35]);
	to Action_shutdown_drone_sync

	from Action_shutdown_drone_sync
		sync Fiacre_Action_shutdown_drone_task ret_val;
		// Trace index: 357, trace level: 3
		// Btnode Action 'shutdown_drone_btn35' returned (sync task)
		ignorep := fiacre_c_print_trace(357);
		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: 358, trace level: 2
		// Btnode Action 'shutdown_drone_btn35' returns success.
		ignorep := fiacre_c_print_trace(358);
		btnode[shutdown_drone_btn35].rstatus := success;
		ignorep := fiacre_graphic_trace(37,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 359, trace level: 2
			// Btnode Action 'shutdown_drone_btn35' returns halted failure.
			ignorep := fiacre_c_print_trace(359);
			ignorep := fiacre_graphic_trace(37,ns_halted);
			null
		else
			// Trace index: 360, trace level: 2
			// Btnode Action 'shutdown_drone_btn35' returns failure.
			ignorep := fiacre_c_print_trace(360);
			ignorep := fiacre_graphic_trace(37,ns_failure);
			null
		end;
		btnode[shutdown_drone_btn35].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 361, trace level: 2
		// Btnode Action 'shutdown_drone_btn35' has been halted.
		ignorep := fiacre_c_print_trace(361);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 362, trace level: 3
		// Btnode Action 'shutdown_drone_btn35' returns running.
		ignorep := fiacre_c_print_trace(362);
		ignorep := fiacre_graphic_trace(37,ns_running);
		btnode[shutdown_drone_btn35].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 363, trace level: 3
		// Btnode Action 'shutdown_drone_btn35' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(363);
		btnode[shutdown_drone_btn35].caller := None;
	to ether

	from ether
		wait [0,0];
	to start_

process btnode_Sequence41_btn20 (&btnode: btnode_array) is

	states start_, tick_node, success, failure, halt, halted, halt_wait, running, error,
		takeoff_btn21, takeoff_btn21_done,
		Parallel45_btn22, Parallel45_btn22_done,
		goto_waypoint_btn33, goto_waypoint_btn33_done,
		land_btn34, land_btn34_done,
		shutdown_drone_btn35, shutdown_drone_btn35_done,
		done, ether

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

	from start_
		wait [0,0];
		on (btnode[Sequence41_btn20].caller <> None);
		report_halted := false;
		if (btnode[Sequence41_btn20].rstatus = halt_me) then
			report_halted := true;
			to halt
		end;
		// Trace index: 364, trace level: 3
		// Btnode Sequence 'Sequence41_btn20' has been called 
		ignorep := fiacre_c_print_trace(364);
		btnode[Sequence41_btn20].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 365, trace level: 3
		// Btnode Sequence 'Sequence41_btn20' is being halted 
		ignorep := fiacre_c_print_trace(365);
		ignorep := fiacre_graphic_trace(22,ns_halt);
		if (btnode[takeoff_btn21].rstatus = running) then
			// Trace index: 366, trace level: 4
			// Btnode Sequence 'Sequence41_btn20' halting Action 'takeoff_btn21'
			ignorep := fiacre_c_print_trace(366);
			btnode[takeoff_btn21].rstatus := halt_me;
			btnode[takeoff_btn21].caller := caller_Sequence41_btn20;
			to halt_wait
		end;
		if (btnode[Parallel45_btn22].rstatus = running) then
			// Trace index: 367, trace level: 4
			// Btnode Sequence 'Sequence41_btn20' halting Parallel 'Parallel45_btn22'
			ignorep := fiacre_c_print_trace(367);
			btnode[Parallel45_btn22].rstatus := halt_me;
			btnode[Parallel45_btn22].caller := caller_Sequence41_btn20;
			to halt_wait
		end;
		if (btnode[goto_waypoint_btn33].rstatus = running) then
			// Trace index: 368, trace level: 4
			// Btnode Sequence 'Sequence41_btn20' halting Action 'goto_waypoint_btn33'
			ignorep := fiacre_c_print_trace(368);
			btnode[goto_waypoint_btn33].rstatus := halt_me;
			btnode[goto_waypoint_btn33].caller := caller_Sequence41_btn20;
			to halt_wait
		end;
		if (btnode[land_btn34].rstatus = running) then
			// Trace index: 369, trace level: 4
			// Btnode Sequence 'Sequence41_btn20' halting Action 'land_btn34'
			ignorep := fiacre_c_print_trace(369);
			btnode[land_btn34].rstatus := halt_me;
			btnode[land_btn34].caller := caller_Sequence41_btn20;
			to halt_wait
		end;
		if (btnode[shutdown_drone_btn35].rstatus = running) then
			// Trace index: 370, trace level: 4
			// Btnode Sequence 'Sequence41_btn20' halting Action 'shutdown_drone_btn35'
			ignorep := fiacre_c_print_trace(370);
			btnode[shutdown_drone_btn35].rstatus := halt_me;
			btnode[shutdown_drone_btn35].caller := caller_Sequence41_btn20;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[takeoff_btn21].caller = None) and
			(btnode[Parallel45_btn22].caller = None) and
			(btnode[goto_waypoint_btn33].caller = None) and
			(btnode[land_btn34].caller = None) and
			(btnode[shutdown_drone_btn35].caller = None) and
			true);
		to halted

	from tick_node
		wait [0,0];
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		if (next_seq = 1) then to takeoff_btn21 end;
		if (next_seq = 2) then to Parallel45_btn22 end;
		if (next_seq = 3) then to goto_waypoint_btn33 end;
		if (next_seq = 4) then to land_btn34 end;
		if (next_seq = 5) then to shutdown_drone_btn35 end;
		to error

	from takeoff_btn21
		wait [0,0];
		// Trace index: 371, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' calling Action 'takeoff_btn21'
		ignorep := fiacre_c_print_trace(371);
		btnode[takeoff_btn21].caller := caller_Sequence41_btn20;
		ignorep := fiacre_graphic_trace(22,ns_tick_passed);
		to takeoff_btn21_done

	from takeoff_btn21_done
		wait [0,0];
		on (btnode[takeoff_btn21].caller = None);
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		// Trace index: 372, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' getting control back from Action 'takeoff_btn21'
		ignorep := fiacre_c_print_trace(372);
		if (btnode[takeoff_btn21].rstatus = success) then
			to Parallel45_btn22
		elsif (btnode[takeoff_btn21].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[takeoff_btn21].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Parallel45_btn22
		wait [0,0];
		// Trace index: 373, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' calling Parallel 'Parallel45_btn22'
		ignorep := fiacre_c_print_trace(373);
		btnode[Parallel45_btn22].caller := caller_Sequence41_btn20;
		ignorep := fiacre_graphic_trace(22,ns_tick_passed);
		to Parallel45_btn22_done

	from Parallel45_btn22_done
		wait [0,0];
		on (btnode[Parallel45_btn22].caller = None);
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		// Trace index: 374, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' getting control back from Parallel 'Parallel45_btn22'
		ignorep := fiacre_c_print_trace(374);
		if (btnode[Parallel45_btn22].rstatus = success) then
			to goto_waypoint_btn33
		elsif (btnode[Parallel45_btn22].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[Parallel45_btn22].rstatus = running) then
			next_seq := 2;
			to running
		else
			to error
		end

	from goto_waypoint_btn33
		wait [0,0];
		// Trace index: 375, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' calling Action 'goto_waypoint_btn33'
		ignorep := fiacre_c_print_trace(375);
		btnode[goto_waypoint_btn33].caller := caller_Sequence41_btn20;
		ignorep := fiacre_graphic_trace(22,ns_tick_passed);
		to goto_waypoint_btn33_done

	from goto_waypoint_btn33_done
		wait [0,0];
		on (btnode[goto_waypoint_btn33].caller = None);
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		// Trace index: 376, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' getting control back from Action 'goto_waypoint_btn33'
		ignorep := fiacre_c_print_trace(376);
		if (btnode[goto_waypoint_btn33].rstatus = success) then
			to land_btn34
		elsif (btnode[goto_waypoint_btn33].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[goto_waypoint_btn33].rstatus = running) then
			next_seq := 3;
			to running
		else
			to error
		end

	from land_btn34
		wait [0,0];
		// Trace index: 377, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' calling Action 'land_btn34'
		ignorep := fiacre_c_print_trace(377);
		btnode[land_btn34].caller := caller_Sequence41_btn20;
		ignorep := fiacre_graphic_trace(22,ns_tick_passed);
		to land_btn34_done

	from land_btn34_done
		wait [0,0];
		on (btnode[land_btn34].caller = None);
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		// Trace index: 378, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' getting control back from Action 'land_btn34'
		ignorep := fiacre_c_print_trace(378);
		if (btnode[land_btn34].rstatus = success) then
			to shutdown_drone_btn35
		elsif (btnode[land_btn34].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[land_btn34].rstatus = running) then
			next_seq := 4;
			to running
		else
			to error
		end

	from shutdown_drone_btn35
		wait [0,0];
		// Trace index: 379, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' calling Action 'shutdown_drone_btn35'
		ignorep := fiacre_c_print_trace(379);
		btnode[shutdown_drone_btn35].caller := caller_Sequence41_btn20;
		ignorep := fiacre_graphic_trace(22,ns_tick_passed);
		to shutdown_drone_btn35_done

	from shutdown_drone_btn35_done
		wait [0,0];
		on (btnode[shutdown_drone_btn35].caller = None);
		ignorep := fiacre_graphic_trace(22,ns_ticked);
		// Trace index: 380, trace level: 4
		// Btnode Sequence 'Sequence41_btn20' getting control back from Action 'shutdown_drone_btn35'
		ignorep := fiacre_c_print_trace(380);
		if (btnode[shutdown_drone_btn35].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[shutdown_drone_btn35].rstatus = failure) then
			next_seq := 1;
			to failure
		elsif (btnode[shutdown_drone_btn35].rstatus = running) then
			next_seq := 5;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 381, trace level: 2
		// Btnode Sequence 'Sequence41_btn20' returns success.
		ignorep := fiacre_c_print_trace(381);
		btnode[Sequence41_btn20].rstatus := success;
		ignorep := fiacre_graphic_trace(22,ns_success);
		to done

	from failure
		wait [0,0];
		if (report_halted) then
			// Trace index: 382, trace level: 2
			// Btnode Sequence 'Sequence41_btn20' returns halted failure.
			ignorep := fiacre_c_print_trace(382);
			ignorep := fiacre_graphic_trace(22,ns_halted);
			null
		else
			// Trace index: 383, trace level: 2
			// Btnode Sequence 'Sequence41_btn20' returns failure.
			ignorep := fiacre_c_print_trace(383);
			ignorep := fiacre_graphic_trace(22,ns_failure);
			null
		end;
		btnode[Sequence41_btn20].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 384, trace level: 2
		// Btnode Sequence 'Sequence41_btn20' has been halted.
		ignorep := fiacre_c_print_trace(384);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 385, trace level: 3
		// Btnode Sequence 'Sequence41_btn20' returns running.
		ignorep := fiacre_c_print_trace(385);
		ignorep := fiacre_graphic_trace(22,ns_running);
		btnode[Sequence41_btn20].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 386, trace level: 3
		// Btnode Sequence 'Sequence41_btn20' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(386);
		btnode[Sequence41_btn20].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,
		Sequence13_btn6, Sequence13_btn6_done,
		Fallback33_btn16, Fallback33_btn16_done,
		Sequence41_btn20, Sequence41_btn20_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: 387, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' has been called 
		ignorep := fiacre_c_print_trace(387);
		btnode[ReactiveSequence11_btn5].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 388, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' is being halted 
		ignorep := fiacre_c_print_trace(388);
		ignorep := fiacre_graphic_trace(7,ns_halt);
		if (btnode[Sequence13_btn6].rstatus = running) then
			// Trace index: 389, trace level: 4
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' halting Sequence 'Sequence13_btn6'
			ignorep := fiacre_c_print_trace(389);
			btnode[Sequence13_btn6].rstatus := halt_me;
			btnode[Sequence13_btn6].caller := caller_ReactiveSequence11_btn5;
			to halt_wait
		end;
		if (btnode[Fallback33_btn16].rstatus = running) then
			// Trace index: 390, trace level: 4
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' halting Fallback 'Fallback33_btn16'
			ignorep := fiacre_c_print_trace(390);
			btnode[Fallback33_btn16].rstatus := halt_me;
			btnode[Fallback33_btn16].caller := caller_ReactiveSequence11_btn5;
			to halt_wait
		end;
		if (btnode[Sequence41_btn20].rstatus = running) then
			// Trace index: 391, trace level: 4
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' halting Sequence 'Sequence41_btn20'
			ignorep := fiacre_c_print_trace(391);
			btnode[Sequence41_btn20].rstatus := halt_me;
			btnode[Sequence41_btn20].caller := caller_ReactiveSequence11_btn5;
			to halt_wait
		end;
		to halted

	from halt_wait
		on (
			(btnode[Sequence13_btn6].caller = None) and
			(btnode[Fallback33_btn16].caller = None) and
			(btnode[Sequence41_btn20].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 Sequence13_btn6 end;
		if (next_seq = 2) then to Fallback33_btn16 end;
		if (next_seq = 3) then to Sequence41_btn20 end;
		to error

	from Sequence13_btn6
		wait [0,0];
		// Trace index: 392, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' calling Sequence 'Sequence13_btn6'
		ignorep := fiacre_c_print_trace(392);
		btnode[Sequence13_btn6].caller := caller_ReactiveSequence11_btn5;
		ignorep := fiacre_graphic_trace(7,ns_tick_passed);
		to Sequence13_btn6_done

	from Sequence13_btn6_done
		wait [0,0];
		on (btnode[Sequence13_btn6].caller = None);
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		// Trace index: 393, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' getting control back from Sequence 'Sequence13_btn6'
		ignorep := fiacre_c_print_trace(393);
		if (btnode[Sequence13_btn6].rstatus = success) then
			to Fallback33_btn16
		elsif (btnode[Sequence13_btn6].rstatus = failure) then
			next_seq := 1;
			halt_called_by_me := true;
			to halt
		elsif (btnode[Sequence13_btn6].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Fallback33_btn16
		wait [0,0];
		// Trace index: 394, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' calling Fallback 'Fallback33_btn16'
		ignorep := fiacre_c_print_trace(394);
		btnode[Fallback33_btn16].caller := caller_ReactiveSequence11_btn5;
		ignorep := fiacre_graphic_trace(7,ns_tick_passed);
		to Fallback33_btn16_done

	from Fallback33_btn16_done
		wait [0,0];
		on (btnode[Fallback33_btn16].caller = None);
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		// Trace index: 395, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' getting control back from Fallback 'Fallback33_btn16'
		ignorep := fiacre_c_print_trace(395);
		if (btnode[Fallback33_btn16].rstatus = success) then
			to Sequence41_btn20
		elsif (btnode[Fallback33_btn16].rstatus = failure) then
			next_seq := 1;
			halt_called_by_me := true;
			to halt
		elsif (btnode[Fallback33_btn16].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from Sequence41_btn20
		wait [0,0];
		// Trace index: 396, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' calling Sequence 'Sequence41_btn20'
		ignorep := fiacre_c_print_trace(396);
		btnode[Sequence41_btn20].caller := caller_ReactiveSequence11_btn5;
		ignorep := fiacre_graphic_trace(7,ns_tick_passed);
		to Sequence41_btn20_done

	from Sequence41_btn20_done
		wait [0,0];
		on (btnode[Sequence41_btn20].caller = None);
		ignorep := fiacre_graphic_trace(7,ns_ticked);
		// Trace index: 397, trace level: 4
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' getting control back from Sequence 'Sequence41_btn20'
		ignorep := fiacre_c_print_trace(397);
		if (btnode[Sequence41_btn20].rstatus = success) then
			next_seq := 1;
			to success
		elsif (btnode[Sequence41_btn20].rstatus = failure) then
			next_seq := 1;
			halt_called_by_me := true;
			to halt
		elsif (btnode[Sequence41_btn20].rstatus = running) then
			next_seq := 1;
			to running
		else
			to error
		end

	from success
		wait [0,0];
		// Trace index: 398, trace level: 2
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns success.
		ignorep := fiacre_c_print_trace(398);
		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: 399, trace level: 2
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns halted failure.
			ignorep := fiacre_c_print_trace(399);
			ignorep := fiacre_graphic_trace(7,ns_halted);
			null
		else
			// Trace index: 400, trace level: 2
			// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns failure.
			ignorep := fiacre_c_print_trace(400);
			ignorep := fiacre_graphic_trace(7,ns_failure);
			null
		end;
		btnode[ReactiveSequence11_btn5].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 401, trace level: 2
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' has been halted.
		ignorep := fiacre_c_print_trace(401);
		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: 402, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returns running.
		ignorep := fiacre_c_print_trace(402);
		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: 403, trace level: 3
		// Btnode ReactiveSequence 'ReactiveSequence11_btn5' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(403);
		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: 404, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' has been called 
		ignorep := fiacre_c_print_trace(404);
		btnode[Sequence3_btn1].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 405, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' is being halted 
		ignorep := fiacre_c_print_trace(405);
		ignorep := fiacre_graphic_trace(3,ns_halt);
		if (btnode[ParallelAll5_btn2].rstatus = running) then
			// Trace index: 406, trace level: 4
			// Btnode Sequence 'Sequence3_btn1' halting ParallelAll 'ParallelAll5_btn2'
			ignorep := fiacre_c_print_trace(406);
			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: 407, trace level: 4
			// Btnode Sequence 'Sequence3_btn1' halting ReactiveSequence 'ReactiveSequence11_btn5'
			ignorep := fiacre_c_print_trace(407);
			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: 408, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' calling ParallelAll 'ParallelAll5_btn2'
		ignorep := fiacre_c_print_trace(408);
		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: 409, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' getting control back from ParallelAll 'ParallelAll5_btn2'
		ignorep := fiacre_c_print_trace(409);
		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: 410, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' calling ReactiveSequence 'ReactiveSequence11_btn5'
		ignorep := fiacre_c_print_trace(410);
		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: 411, trace level: 4
		// Btnode Sequence 'Sequence3_btn1' getting control back from ReactiveSequence 'ReactiveSequence11_btn5'
		ignorep := fiacre_c_print_trace(411);
		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: 412, trace level: 2
		// Btnode Sequence 'Sequence3_btn1' returns success.
		ignorep := fiacre_c_print_trace(412);
		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: 413, trace level: 2
			// Btnode Sequence 'Sequence3_btn1' returns halted failure.
			ignorep := fiacre_c_print_trace(413);
			ignorep := fiacre_graphic_trace(3,ns_halted);
			null
		else
			// Trace index: 414, trace level: 2
			// Btnode Sequence 'Sequence3_btn1' returns failure.
			ignorep := fiacre_c_print_trace(414);
			ignorep := fiacre_graphic_trace(3,ns_failure);
			null
		end;
		btnode[Sequence3_btn1].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 415, trace level: 2
		// Btnode Sequence 'Sequence3_btn1' has been halted.
		ignorep := fiacre_c_print_trace(415);
		next_seq := 1;
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 416, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' returns running.
		ignorep := fiacre_c_print_trace(416);
		ignorep := fiacre_graphic_trace(3,ns_running);
		btnode[Sequence3_btn1].rstatus := running;
		to done

	from done
		wait [0,0];
		// Trace index: 417, trace level: 3
		// Btnode Sequence 'Sequence3_btn1' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(417);
		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: 418, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' has been called 
		ignorep := fiacre_c_print_trace(418);
		btnode[BehaviorTree1_drone].rstatus := no_ret_status;
	to tick_node

	from halt
		wait [0,0];
		// Trace index: 419, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' is being halted 
		ignorep := fiacre_c_print_trace(419);
		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: 420, trace level: 4
		// Btnode BehaviorTree 'BehaviorTree1_drone' calling Sequence 'Sequence3_btn1'
		ignorep := fiacre_c_print_trace(420);
		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: 421, trace level: 4
		// Btnode BehaviorTree 'BehaviorTree1_drone' getting control back from Sequence 'Sequence3_btn1'
		ignorep := fiacre_c_print_trace(421);
		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: 422, trace level: 2
		// Btnode BehaviorTree 'BehaviorTree1_drone' returns success.
		ignorep := fiacre_c_print_trace(422);
		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: 423, trace level: 2
			// Btnode BehaviorTree 'BehaviorTree1_drone' returns halted failure.
			ignorep := fiacre_c_print_trace(423);
			ignorep := fiacre_graphic_trace(2,ns_halted);
			null
		else
			// Trace index: 424, trace level: 2
			// Btnode BehaviorTree 'BehaviorTree1_drone' returns failure.
			ignorep := fiacre_c_print_trace(424);
			ignorep := fiacre_graphic_trace(2,ns_failure);
			null
		end;
		btnode[BehaviorTree1_drone].rstatus := failure;
		to done

	from halted
		wait [0,0];
		// Trace index: 425, trace level: 2
		// Btnode BehaviorTree 'BehaviorTree1_drone' has been halted.
		ignorep := fiacre_c_print_trace(425);
		report_halted := true;
		to failure

	from running
		wait [0,0];
		// Trace index: 426, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' returns running.
		ignorep := fiacre_c_print_trace(426);
		ignorep := fiacre_graphic_trace(2,ns_running);
		btnode[BehaviorTree1_drone].rstatus := running;
		to tick_node

	from done
		wait [0,0];
		// Trace index: 427, trace level: 3
		// Btnode BehaviorTree 'BehaviorTree1_drone' returning control to caller and back to 'ether'
		ignorep := fiacre_c_print_trace(427);
		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 = 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}],
		// **** state variables ****,
		fls: sv_fls := 0,
		battery: sv_battery := Good

par * in
// **** state variables processes ****
   sv_battery_automata(&battery)
// **** btnode processes ****
|| btnode_start_drone_btn3(&btnode, &fls, &battery)
|| btnode_start_camera_btn4(&btnode, &fls, &battery)
|| btnode_ParallelAll5_btn2(&btnode)
|| btnode_measure_battery_btn9(&btnode, &fls, &battery)
|| btnode_ForceFailure17_btn8(&btnode)
|| btnode_Eval21_btn10(&btnode, &fls, &battery)
|| btnode_land_btn11(&btnode, &fls, &battery)
|| btnode_Fallback15_btn7(&btnode)
|| btnode_Eval25_btn12(&btnode, &fls, &battery)
|| btnode_Eval29_btn14(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn15(&btnode, &fls, &battery)
|| btnode_Fallback27_btn13(&btnode)
|| btnode_Sequence13_btn6(&btnode)
|| btnode_localization_ok_btn17(&btnode, &fls, &battery)
|| btnode_land_btn19(&btnode, &fls, &battery)
|| btnode_ForceFailure37_btn18(&btnode)
|| btnode_Fallback33_btn16(&btnode)
|| btnode_takeoff_btn21(&btnode, &fls, &battery)
|| btnode_camera_tracking_btn23(&btnode, &fls, &battery)
|| btnode_Eval53_btn26(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn27(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn28(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn29(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn30(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn31(&btnode, &fls, &battery)
|| btnode_goto_waypoint_btn32(&btnode, &fls, &battery)
|| btnode_Sequence51_btn25(&btnode)
|| btnode_Repeat49_btn24(&btnode)
|| btnode_Parallel45_btn22(&btnode)
|| btnode_goto_waypoint_btn33(&btnode, &fls, &battery)
|| btnode_land_btn34(&btnode, &fls, &battery)
|| btnode_shutdown_drone_btn35(&btnode, &fls, &battery)
|| btnode_Sequence41_btn20(&btnode)
|| btnode_ReactiveSequence11_btn5(&btnode)
|| btnode_Sequence3_btn1(&btnode)
|| btnode_BehaviorTree1_drone(&btnode)
// **** end of the component ****

end


drone

/*End of File */