griffiss-teal.json

{
    "HOME": {
        "latitude": 43.22997956743378,
        "longitude": -75.41077074517071,
        "altitude": 146.1364
    },
    "states": [
        {
            "name": "MISSION_PREPARATION",
            "transitions": [
                {
                    "target": "OnGround",
                    "condition": "MissionConfigured"
                }
            ]
        },

        {
            "name": "Arm",
            "transitions": [
                {
                    "target": "Takeoff",
                    "condition": "succeeded_armed"
                }
            ]
        },
        {
            "name": "Takeoff",
            "transitions": [
                {
                    "target": "BetterHover",
                    "condition": "succeeded_takeoff"
                },
                {
                    "target": "Land",
                    "condition": "failed_takeoff"
                }
            ]
        },
        {
            "name": "BetterHover",
            "args": {
                "stare_position": {
                    "latitude": 43.231541869042104,
                    "longitude": -75.41383883449247,
                    "altitude": 146.8344
                },
                "pitch": 15.0,
                "distance": 500.0,
                "starting_angle": 100.0,
                "hover_time": 30.0,
                "cruising_altitude": 30.48,
                "speed": 5.0
            },
            "transitions": [
                {
                    "condition": "succeeded_hover",
                    "target": "BriarTravel"
                }
            ]
        },
        {
            "name": "BriarTravel",
            "args": {
                "waypoint": {
                    "latitude": 43.22997956743379,
                    "longitude": -75.41077074517071,
                    "altitude": 176.71389999704735
                },
                "stare_position": {
                    "latitude": 43.231541869042104,
                    "longitude": -75.41383883449247,
                    "altitude": 146.8344
                },
                "cruising_altitude": 30.48,
                "speed": 5.0
            },
            "transitions": [
                {
                    "condition": "succeeded_waypoints",
                    "target": "Land"
                }
            ]
        },
        {
            "name": "Land",
            "transitions": [
                {
                    "target": "Disarm",
                    "condition": "succeeded_land"
                }
            ]
        },
        {
            "name": "Disarm",
            "transitions": [
                {
                    "target": "mission_completed",
                    "condition": "succeeded_disarm"
                }
            ]
        }
    ]
}