ardupilot/Tools/autotest/mission2.txt

QGC WPL 110
#s	fr ac	cmd   	p1			p2       	p3			p4			lat			lon			alt			continue
0	1	3	16		0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	582			1

# takeoff
1	0	3	22		0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	20			1

# MAV_CMD_NAV_WAYPOINT  A
#					Hold sec	Hit rad		empty		Yaw angle	lat			lon			alt			continue
2	0	3	16		0			3			0			0			-35.363949  149.164151	20			1

# MAV_CMD_CONDITION_YAW
#					delta deg	sec			Dir	1=CW	Rel/Abs		Lat			lon			Alt			continue
3	0	3	115		640			20			1			1			0  			0			0			1

# MAV_CMD_NAV_LOITER_TIME
#					seconds		empty		rad			Yaw	per		Lat			lon			Alt			continue
4	0	3	19		35			20			0			1			0  			0			0			1

# MAV_CMD_NAV_WAYPOINT	B
#					Hold sec	Hit rad		empty		Yaw angle	lat			lon			alt			continue
5	0	3	16		0			3			0			0			-35.363287  149.164958	20			1

# MAV_CMD_NAV_LOITER_TURNS
#					Turns											lat			lon			alt			continue
6	0	3	18		2			0			0			0			0  			0			0			1

# MAV_CMD_DO_SET_ROI, MAV_ROI_WPNEXT = 1
#					MAV_ROI		WP index	ROI index				lat			lon			alt			continue
7	0	3	201		1			0			0			0			0  			0			0			1

# MAV_CMD_NAV_WAYPOINT	C
#					Hold sec	Hit rad		empty		Yaw angle	lat			lon			alt			continue
8	0	3	16		0			3			0			0			-35.364865  149.164952	20			1

# MAV_CMD_CONDITION_DISTANCE
#					meters																				continue
9	0	3	114		100			0			0			0			0  			0			0			1

# MAV_CMD_CONDITION_CHANGE_ALT
#					climb_rate																alt			continue
10	0	3	113		0			0			0			0			0  			0			40			1

# MAV_CMD_NAV_WAYPOINT D
#					Hold sec	Hit rad		empty		Yaw angle	lat			lon			alt			continue
11	0	3	16		0			3			0			0			-35.363165  149.163905	20			1

# MAV_CMD_NAV_WAYPOINT E
#					Hold sec	Hit rad		empty		Yaw angle	lat			lon			alt			continue
12	0	3	16		0			3			0			0			-35.363611  149.163583	20			1

# MAV_CMD_DO_JUMP
#					seq#		repeat		.			.			.			.			.			continue
13	0	3	177		11			3			0			0			0			0			0			1

# MAV_CMD_NAV_RETURN_TO_LAUNCH
#											.			.			.			.			alt			continue
14	0	3	20		0			0			0			0			0 			0			20			1

# MAV_CMD_NAV_LAND
#
15	0	3	21		0			0			0			0			0			0			0			1

# WP_total = 10
# 0 = home

# seq
# current
# frame
# command
# param1,
# param2,
# param3
# param4
# x (latitude)
# y (longitude)
# z (altitude)
# autocontinue