missions.json

{
    "px4":{
        
            "Mission": {
            "name": "fly_to_points", 
            "param": [8,[[0, 0, 0], [0, 5, -5],[5, 5, -5],[5, 0, -5],[0, 0, -5] ]]
                     }
            },

    "drone_response":{
        "states": [
            {
                "name": "Takeoff",
                "args": {
                    "altitude": 20,
                    "speed": 1.5,
                    "altitude_threshold": 1.0
                },    
                "transitions": [
                    {
                        "target": "BriarWaypoint",
                        "condition": "succeeded_takeoff"
                    },
                    {
                        "target": "Land",
                        "condition": "failed_takeoff"
                    }
                ]
            },
            {
                "name": "BriarWaypoint",
                "class": "BriarWaypoint",
                "args": {
                    "waypoint": {
                        "latitude": 41.60642710451832,
                        "longitude":  -86.35599354346824,
                        "altitude": 245.0
                    },
                    "speed": 3.5
                },
                "transitions": [
                    {
                        "target": "BriarHover",
                        "condition": "succeeded_waypoints"
                    }
                ]
            },
            {
                "name": "BriarHover",
                "args": {
                    "hover_time": 90
                },
                "transitions": [
                    {
                        "target": "LandLocation",
                        "condition": "succeeded_hover"
                    }
                ]
            },
            {
                "name": "LandLocation",
                "class": "BriarWaypoint",
                "args": {
                    "waypoint": {
                        "latitude": 41.60661172734727,
                        "longitude": -86.35612230724895,
                        "altitude": 245.0
                    },
                    "speed": 3.5
                },
                "transitions": [
                    {
                        "target": "Land",
                        "condition": "succeeded_waypoints"
                    }
                ]
            },
            {
                "name": "Land",
                "transitions": [
                    {
                        "target": "Disarm",
                        "condition": "succeeded_land"
                    }
                ]
            },
            {
                "name": "Disarm",
                "transitions": [
                    {
                        "target": "mission_completed",
                        "condition": "succeeded_disarm"
                    }
                ]
            }
        ]
    }
}