93 lines
1.5 KiB
Plaintext
93 lines
1.5 KiB
Plaintext
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QGC WPL PB 110
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defaults {
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# Default coordinate frame for this mission.
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frame: FRAME_GLOBAL_RELATIVE_ALT
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}
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waypoint {
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command: CMD_NAV_WAYPOINT
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x: -35.362881
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y: 149.165222
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z: 582.0
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}
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waypoint {
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command: CMD_NAV_TAKEOFF
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x: -35.362881
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y: 149.165222
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z: 20.0
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}
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waypoint {
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command: CMD_NAV_WAYPOINT
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param2: 3.0 # Hit radius
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x: -35.363949
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y: 149.164151
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z: 20.0
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}
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waypoint {
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command: CMD_CONDITION_YAW
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param1: 640.0 # Target angle
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param2: 20.0 # Degrees / second
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param3: 1.0 # Clockwise
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param4: 1.0 # target angle is delta
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}
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waypoint {
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command: CMD_NAV_LOITER_TIME
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param1: 35.0 # Seconds
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param4: 1.0 # Desired yaw
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x: 0.0
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y: 0.0
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z: 20.0
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}
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waypoint {
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command: CMD_NAV_WAYPOINT
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param2: 3.0 # Hit radius
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x: -35.363287
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y: 149.164958
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z: 20.0
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}
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waypoint {
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command: CMD_NAV_LOITER_TURNS
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param1: 18.0
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param2: 2.0 # Turns
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z: 20.0
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}
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waypoint {
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command: CMD_NAV_WAYPOINT
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param2: 3.0 # Hit radius
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x: -35.364865
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y: 149.164952
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z: 20.0
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}
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waypoint {
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command: CMD_CONDITION_DISTANCE
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param1: 100.0 # Distance (meters)
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}
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waypoint {
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command: CMD_CONDITION_CHANGE_ALT
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z: 40.0 # Finish altitude
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}
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waypoint {
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command: CMD_NAV_WAYPOINT
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param2: 3.0 # Hit radius
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x: -35.363165
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y: 149.163905
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z: 20.0
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}
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waypoint {
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command: CMD_NAV_WAYPOINT
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param2: 3.0 # Hit radius
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x: -35.363611
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y: 149.163583
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z: 20.0
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}
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waypoint {
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command: CMD_DO_JUMP
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param1: 11.0 # Sequence number
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param2: 3.0 # Repeat count
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}
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waypoint {
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command: CMD_NAV_RETURN_TO_LAUNCH
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}
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waypoint {
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command: CMD_NAV_LAND
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}
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