10 REM Create a waypoint file for Mission Planner
20 REM Define a rectangle with A(long,lat) and B(long,lat)
30 REM with A in the bottom left-hand corner, 
40 REM and B in the upper right-hand corner

50 REM. Input A(lat,long) and B(lat,long)
60 wide=.000003448: REM in geo-units of 0.3484 inches = 12 in
70 input "A-latitude=";Alat
80 input "A-longitude=";Alon
90 input "B-latitude=";Blat
100 input "B-longitude=";Blon
110 if Alat > Blat then print " Alat > Blat !":GOTO 70 
120 if Alon > Blon then print " Alon > Blon !":GOTO 70 
130 span=Blon-Alon: if span<0 then print "span<0":GOTO 70 
140 length=Blat-Alat:print "span=";span,"length=";length

150 REM. Create a text file for output
160 open "waypoints.txt" for output as #1
170 print #1,"QGC WPL 110":REM header, what does this mean?
180 print #1,0,1,0,16,0,0,0,0,
190 A=Alat:B=Alon:GOSUB 430 
200 lnum=0:REM line number
210 np=int(span/wide)+1:inc=span/np: print "np=";np,"inc=";inc
220 for n=1 to np: lnum=lnum+1:REM bump line number
230 print #1,lnum,0,3,16,0,0,0,0,
240 A=Alat+length:B=Alon+inc*(n-1):GOSUB 430 
250 lnum=lnum+1:REM bump line number
260 print #1,lnum,0,3,194,1,0,1,0,0,0,0,1:REM go rev
270 lnum=lnum+1:REM bump line number
280 print #1,lnum,0,3,16,0,0,0,0,
290 A=Alat:B=Alon+inc*n:GOSUB 430 
300 lnum=lnum+1:REM bump line number
310 print #1,lnum,0,3,194,0,0,1,0,0,0,0,1:REM go fwd
320 next n: lnum=lnum+1

330 REM. one more pass to make
340 print #1,lnum,0,3,16,0,0,0,0,
350 A=Blat:B=Blon:GOSUB 430 
360 lnum=lnum+1:REM bump line number
370 print #1,lnum,0,3,194,1,0,1,0,0,0,0,1:REM go rev
380 lnum=lnum+1:REM bump line number
390 print #1,lnum,0,3,16,0,0,0,0,
400 A=Alat:B=Blon:GOSUB 430 
410 close #1
420 end

430 REM. Get all the sig figs out
440 print #1,using "###.########";A,B,
450 print #1,0,1
460 return