#A4# #Start# #Store their current position + signal strength. Update their "last reported good" area.# #No# #Yes# #No# #No# #Yes# #Every UDP packet contains: Our current beam position, status on whether we plan to move our beam. The best position we know for their beam (with sigma?)# #Store our reported-good position + sigma. Re-centre our beam or scan.# #Was received signal strength adequate?# #Yes (alignment packet)# #Consider doing handshaking to prevent simultaneous maintenance scans? Also, compare best signal from previous scans to detect bad weather.# #Yes# #No# #Yes (carrier or other data)# #Did we receive data?# #Search: Start packet flood. Scan beam over likely target. (spiral or raster)# #Update our current position and status.# #Do we know a good direction to point the laser?# #Maintain: Slow the packet flood to a trickle, but be sure to notify of status changes.# #Did we receive data?# #Increase sigma on their reported-good position.#