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