mission-spec.json

{
    "states": [
        {
            "name": "MISSION_PREPARATION",
            "transitions": [
                {
                    "target": "OnGround",
                    "condition": "MissionConfigured"
                }
            ]
        },
        {
            "name": "OnGround",
            "transitions": [
                {
                    "target": "Preflight",
                    "condition": "usr_initiated_preflight"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Preflight",
            "transitions": [
                {
                    "target": "Standby",
                    "condition": "succeeded_preflight"
                },
                {
                    "target": "OnGround",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Standby",
            "transitions": [
                {
                    "target": "Arm",
                    "condition": "succeeded_standby"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Arm",
            "transitions": [
                {
                    "target": "Takeoff",
                    "condition": "succeeded_armed"
                },
                {
                    "target": "OnGround",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Takeoff",
            "transitions": [
                {
                    "target": "FlyWaypoints",
                    "condition": "succeeded_takeoff"
                },
                {
                    "target": "Land",
                    "condition": "failed_takeoff"
                },
                {
                    "target": "Arm",
                    "condition": "error"
                },
                {
                    "target": "HumanControl",
                    "condition": "human_control"
                }
            ]
        },
        {
            "name": "FlyWaypoints",
            "transitions": [
                {
                    "target": "Hover",
                    "condition": "succeeded_waypoints"
                },
                {
                    "target": "Takeoff",
                    "condition": "error"
                },
                {
                    "target": "HumanControl",
                    "condition": "human_control"
                },
                {
                    "target": "AbortHover",
                    "condition": "abort"
                },
                
                {"target": "Vision",
                "condition": "found"
                }
            ],
            
            "args": {
                "target_gps_location":
                    {
                        "latitude": 41.70573086523541,
                        "longitude": -86.24421841999177,
                        "altitude": 200
                    }
                ,
                "mission_mode": 
                    {
                        "mode": 0
                    }
            }
        },
        
        {
            "name": "Vision",
            "transitions": [
                {
                    "target": "Tracking",
                    "condition": "victim_near"
                },
                {
                    "target": "Land",
                    "condition": "do_land"
                
                }
            ]
        },
        {
            "name": "Searching",
            "transitions": [
                {
                    "target": "PossibleVictimDetected",
                    "condition": "succeeded_searching"
                },
                {
                    "target": "ReturnHome",
                    "condition": "cmd_return"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "PossibleVictimDetected",
            "transitions": [
                {
                    "target": "Searching",
                    "condition": "usr_refutes_victim"
                },
                {
                    "target": "VictimFound",
                    "condition": "usr_confirms_victim"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "VictimFound",
            "transitions": [
                {
                    "target": "Searching",
                    "condition": "cmd_search"
                },
                {
                    "target": "Tracking",
                    "condition": "cmd_track"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Hover",
            "transitions": [
                {
                    "target": "ReturnHome",
                    "condition": "succeeded_hover"
                },
                {
                    "target": "HumanControl",
                    "condition": "human_control"
                },
                {
                    "target": "HumanControl",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Dropping",
            "transitions": [
                {
                    "target": "ReturnHome",
                    "condition": "succeeded_dropping"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Tracking",
            "transitions": [
                {
                    "target": "ReturnHome",
                    "condition": "succeeded_tracking"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "ReturnHome",
            "transitions": [
                {
                    "target": "Land",
                    "condition": "succeeded_return_home"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        },
        {
            "name": "Land",
            "transitions": [
                {
                    "target": "Disarm",
                    "condition": "succeeded_land"
                },
                {
                    "target": "HumanControl",
                    "condition": "error"
                },
                {
                    "target": "HumanControl",
                    "condition": "human_control"
                }
            ]
        },
        {
            "name": "Disarm",
            "transitions": [
                {
                    "target": "mission_completed",
                    "condition": "succeeded_disarm"
                },
                {
                    "target": "failure",
                    "condition": "error"
                }
            ]
        }
    ],
    "waypoints": [
        {
            "latitude": 41.70573086523541,
            "longitude": -86.24421841999177,
            "altitude": 20,
            "velocity": 20
        },
        {
            "latitude": 41.706169,
            "longitude": -86.243779,
            "altitude": 25,
            "velocity": 18
        },
        {
            "latitude": 41.70573086523541,
            "longitude": -86.24421841999177,
            "altitude": 20,
            "velocity": 20
        }
    ]
}