Dennis AVR 2023 Waypoint Mission Test

mission.json

# Launch AVR Sim
root@ubuntu:~/AVR-2022/VMC# ./start.py -s -l run simulator mqtt fcm web

# Publish to FCM topic on MQTT Broker
avr/fcm/actions

# Absolute
{"action":"upload_mission","payload":{"waypoints":[{"type":"takeoff", "lat": 32.8085506, "lon": -97.1563441, "alt": 3},{"type":"goto","lat":32.8085769115908,"lon":-97.15634413537362,"alt":2},{"type":"goto","lat":32.808576911586705,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212819,"lon":-97.15631207121733,"alt":2},{"type":"goto","lat":32.80854996212411,"lon":-97.15634413536391,"alt":2},{"type":"land", "lat":32.80854996212411,"lon":-97.15634413536391, "alt": 0}]}}

# Relative
{"action":"upload_mission","payload":{"waypoints":[{"type":"takeoff", "alt": 3},{"type":"goto", "n": 5, "e": 0, "d": -3},{"type":"goto", "n": 5, "e": 5, "d": -3},{"type":"goto", "n": 0, "e": 5, "d": -3},{"type":"goto", "n": 0, "e": 0, "d": -3}{"type":"land"}]}}

# Local (WIP)
{
"action": "takeoff",
"payload": {"alt": 3}
}

# Forward
{
  "action": "goto_location_ned",
  "payload": {"n": 5, "e": 0, "d": -3, "heading": 0}
}

# Front Right
{
  "action": "goto_location_ned",
  "payload": {"n": 5, "e": 5, "d": -3, "heading": 0}
}

{
  "action": "goto_location_ned",
  "payload": {"n": 0, "e": 5, "d": -3, "heading": 0}
}

{
  "action": "goto_location_ned",
  "payload": {"n": 0, "e": 0, "d": -3, "heading": 0}
}

{
  "action": "land",
  "payload": {}
}