From ed87670391387f7a91aee3b1dca8d2c7df440e34 Mon Sep 17 00:00:00 2001
From: Gustavo <g.rezendesilva@tudelft.nl>
Date: Mon, 20 May 2024 17:42:04 +0100
Subject: [PATCH] =?UTF-8?q?=E2=9A=A1=20improve=20suave=20extended=20bt?=
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---
 .../suave_bt/bts/suave_extended.xml           | 78 +++++++++----------
 1 file changed, 35 insertions(+), 43 deletions(-)

diff --git a/suave_managing/suave_bt/bts/suave_extended.xml b/suave_managing/suave_bt/bts/suave_extended.xml
index f64828d..fc4f59f 100644
--- a/suave_managing/suave_bt/bts/suave_extended.xml
+++ b/suave_managing/suave_bt/bts/suave_extended.xml
@@ -34,45 +34,39 @@
             </Fallback>
             <Fallback>
               <SequenceWithMemory>
-                <Fallback>
-                  <is_pipeline_found/>
-                  <ReactiveSequence>
-                    <battery_level threshold="0.25"/>
-                    <Fallback>
-                      <Sequence>
-                        <water_visibility threshold="3.25"/>
-                        <change_mode node_name="f_generate_search_path"
-                                     mode_name="fd_spiral_high"/>
-                      </Sequence>
-                      <Sequence>
-                        <water_visibility threshold="2.25"/>
-                        <change_mode node_name="f_generate_search_path"
-                                     mode_name="fd_spiral_medium"/>
-                      </Sequence>
-                      <Sequence>
-                        <water_visibility threshold="1.25"/>
-                        <change_mode node_name="f_generate_search_path"
-                                     mode_name="fd_spiral_low"/>
-                      </Sequence>
-                    </Fallback>
-                    <search_pipeline/>
-                    <change_mode node_name="f_generate_search_path"
-                                 mode_name="fd_unground"/>
-                  </ReactiveSequence>
-                </Fallback>
-                <Fallback>
-                  <is_pipeline_inspected/>
-                  <ReactiveSequence>
-                    <battery_level threshold="0.25"/>
-                    <change_mode node_name="f_follow_pipeline"
-                                 mode_name="fd_follow_pipeline"/>
-                    <inspect_pipeline/>
-                    <change_mode node_name="f_follow_pipeline"
-                                 mode_name="fd_unground"/>
-                    <change_mode node_name="f_maintain_motion"
-                                 mode_name="fd_unground"/>
-                  </ReactiveSequence>
-                </Fallback>
+                <ReactiveSequence>
+                  <battery_level threshold="0.25"/>
+                  <Fallback>
+                    <Sequence>
+                      <water_visibility threshold="3.25"/>
+                      <change_mode node_name="f_generate_search_path"
+                                   mode_name="fd_spiral_high"/>
+                    </Sequence>
+                    <Sequence>
+                      <water_visibility threshold="2.25"/>
+                      <change_mode node_name="f_generate_search_path"
+                                   mode_name="fd_spiral_medium"/>
+                    </Sequence>
+                    <Sequence>
+                      <water_visibility threshold="1.25"/>
+                      <change_mode node_name="f_generate_search_path"
+                                   mode_name="fd_spiral_low"/>
+                    </Sequence>
+                  </Fallback>
+                  <search_pipeline/>
+                  <change_mode node_name="f_generate_search_path"
+                               mode_name="fd_unground"/>
+                </ReactiveSequence>
+                <ReactiveSequence>
+                  <battery_level threshold="0.25"/>
+                  <change_mode node_name="f_follow_pipeline"
+                               mode_name="fd_follow_pipeline"/>
+                  <inspect_pipeline/>
+                  <change_mode node_name="f_follow_pipeline"
+                               mode_name="fd_unground"/>
+                  <change_mode node_name="f_maintain_motion"
+                               mode_name="fd_unground"/>
+                </ReactiveSequence>
               </SequenceWithMemory>
               <Sequence>
                 <change_mode node_name="f_generate_search_path"
@@ -113,10 +107,8 @@
             editable="true"/>
     <Condition ID="is_mission_aborted"
                editable="true"/>
-    <Condition ID="is_pipeline_found"
-               editable="true"/>
-    <Condition ID="is_pipeline_inspected"
-               editable="true"/>
+    <Condition ID="is_pipeline_found"/>
+    <Condition ID="is_pipeline_inspected"/>
     <Action ID="recharge"/>
     <Action ID="search_pipeline"
             editable="true"/>