public-tests/missionspeppermint-rd-phased-circle.json at main · DroneResponse/public-tests · GitHub

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{
    "states": [
        {
            "name": "MISSION_PREPARATION",
            "transitions": [
                {
                    "target": "OnGround",
                    "condition": "MissionConfigured"
                }
            ]
        },
        {
            "name": "Preflight",
            "transitions": [
                {
                    "target": "Arm",
                    "condition": "succeeded_preflight"
                }
            ]
        },

        {
            "name": "Arm",
            "transitions": [
                {
                    "target": "Takeoff",
                    "condition": "succeeded_armed"
                }
            ]
        },
        {
            "name": "Takeoff",
            "transitions": [
                {
                    "target": "PhasedCircle",
                    "condition": "succeeded_takeoff"
                },
                {
                    "target": "Land",
                    "condition": "failed_takeoff"
                }
            ]
        },
        {
            "name": "PhasedCircle",
            "args": {
                "center_position":{
                    "latitude": 41.60669879284219,
                    "longitude": -86.35549049728084,
                    "altitude": 230.0
                },
                "stare_position": {
                    "latitude": 41.606881978397986,
                    "longitude": -86.3560259537521,
                    "altitude": 229.02
                },
                "pitch": 33.75,
                "distance": 36.06,
                "starting_angle": 90,
                "total_sweep_angle": 135,
                "speed": 2.5,
                "cruising_altitude": 15,
                "number_arcs": 1,
                "pause_time": 5
            },
            "transitions": [
                {
                    "target": "BriarWaypoint",
                    "condition": "succeeded_circle"
                }
            ]
        },
        {
            "name": "BriarWaypoint",
            "args": {
                "waypoint": {
                    "latitude": 41.606695509416944,
                    "longitude": -86.35550466673673,
                    "altitude": 240.0
                },
                "stare_position": {
                    "latitude": 41.6068925536827,
                    "longitude": -86.35607195393388,
                    "altitude": 229.0237
                },
                "speed": 2.5
            },
            "transitions": [
                {
                    "target": "Land",
                    "condition": "succeeded_waypoints"
                }
            ]
        },
        {
            "name": "Land",
            "transitions": [
                {
                    "target": "Disarm",
                    "condition": "succeeded_land"
                }
            ]
        },
        {
            "name": "Disarm",
            "transitions": [
                {
                    "target": "mission_completed",
                    "condition": "succeeded_disarm"
                }
            ]
        }
    ]
}