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This commit is contained in:
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# XML Mission File Definition
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## Overview
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Historically, mission planners interoperating with INAV (and multiwii) missions have used the XML mission file format defined by EOSBandi for MultiWii 2.3 (2013).
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The format is defined the XSD schema here.
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* Lower case tags are preferred by INAV. Older tools may prefer uppercase (the original MW usage).
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* For INAV 4.0 and later, the `missionitem/flags` attribute is required for "fly-by home" waypoints and multi-mission files.
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* For INAV 4.0 and later, multi-mission files; mission segments are delimited by a flag value of `165` (the MSP protocol 'last WP' value).
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* For multi-mission files, the waypoints may be numbered either sequentially across the whole file, or "reset-numbering" within each mission segment. The latter may (or not) be considered to be more "human readable", particularly where `JUMP` is used.
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* The `mwp` tag was introduced by the eponymous mission planner. Other mission planners may consider that reusing some of the tags (`cx`, `cy` - centre location, `zoom` TMS zoom level, `home-x`, `home-y` - home location) is useful.
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* `meta` may be used as a synonym for `mwp`.
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* The `version` tag may be intepreted by mission planners as they see fit. For example, the (obsolete) Android 'ez-gui' application requires '2.3-pre8'. For multi-mission files it is recommended to use another `version`.
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* The `mwp` / `meta` element may be interleaved with `missionitem` in a multi-mission file to provide mission segment specific home, centre locations and zoom.
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* The `fwapproach` element defines INAV 7.1.0 and later Autoland parameters for the mission.
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## Validation
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You can check that your files validate using the open source `xmlint` tool.
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```
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xmllint --schema docs/development/wp_mission_schema/mw-mission.xsd test.mission --noout
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```
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## Examples
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### Multi-mission file with sequential numbering
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```
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<?xml version="1.0" encoding="UTF-8"?>
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<mission>
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<version value="2.3-pre8"></version>
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<mwp zoom="14" cx="-3.2632398333333335" cy="54.570950466666666" home-x="0" home-y="0" save-date="2021-11-12T14:07:03Z" generator="impload"></mwp>
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<missionitem no="1" action="WAYPOINT" lat="54.5722109" lon="-3.2869291" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="2" action="WAYPOINT" lat="54.5708178" lon="-3.2642698" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="3" action="WAYPOINT" lat="54.5698227" lon="-3.2385206" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="165"></missionitem>
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<missionitem no="4" action="WAYPOINT" lat="54.5599696" lon="-3.2958555" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="5" action="WAYPOINT" lat="54.5537978" lon="-3.2958555" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="6" action="WAYPOINT" lat="54.5547933" lon="-3.2864141" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="7" action="WAYPOINT" lat="54.5597705" lon="-3.2695913" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="8" action="WAYPOINT" lat="54.555291" lon="-3.2598066" alt="50" parameter1="0" parameter2="0" parameter3="0"></missionitem>
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<missionitem no="9" action="JUMP" lat="0" lon="0" alt="0" parameter1="1" parameter2="0" parameter3="0" flag="165"></missionitem>
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<missionitem no="10" action="WAYPOINT" lat="54.5714148" lon="-3.2501936" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="165"></missionitem>
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</mission>
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```
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### Multi-mission file with "reset" numbering and per-segment metadata with `meta` tag
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```
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<?xml version="1.0" encoding="utf-8"?>
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<mission>
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<!--mw planner 0.01-->
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<version value="42"></version>
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<meta save-date="2021-11-12T14:22:05+0000" zoom="14" cx="-3.2627249" cy="54.5710168" home-x="-3.2989342" home-y="54.5707123" generator="mwp (mwptools)"><details><distance units="m" value="3130"></distance></details></meta>
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<missionitem no="1" action="WAYPOINT" lat="54.5722109" lon="-3.2869291" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="2" action="WAYPOINT" lat="54.5708178" lon="-3.2642698" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="3" action="WAYPOINT" lat="54.5698227" lon="-3.2385206" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="165"></missionitem>
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<meta save-date="2021-11-12T14:22:05+0000" zoom="15" cx="-3.2778311" cy="54.5568837" home-x="-3.2983737" home-y="54.5622331" generator="mwp (mwptools)"><details><distance units="m" value="9029"></distance><nav-speed units="m/s" value="10"></nav-speed><fly-time units="s" value="929"></fly-time><loiter-time units="s" value="0"></loiter-time></details></meta>
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<missionitem no="1" action="WAYPOINT" lat="54.5599696" lon="-3.2958555" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="2" action="WAYPOINT" lat="54.5537978" lon="-3.2958555" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="3" action="WAYPOINT" lat="54.5547933" lon="-3.2864141" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="4" action="WAYPOINT" lat="54.5597705" lon="-3.2695913" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="5" action="WAYPOINT" lat="54.5552910" lon="-3.2598066" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="0"></missionitem>
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<missionitem no="6" action="JUMP" lat="0.0000000" lon="0.0000000" alt="0" parameter1="1" parameter2="1" parameter3="0" flag="165"></missionitem>
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<meta save-date="2021-11-12T14:22:05+0000" zoom="20" cx="-3.2501936" cy="54.5714148" generator="mwp (mwptools)"><details><distance units="m" value="0"></distance></details></meta>
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<missionitem no="1" action="WAYPOINT" lat="54.5714148" lon="-3.2501936" alt="50" parameter1="0" parameter2="0" parameter3="0" flag="165"></missionitem>
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</mission>
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```
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<?xml version="1.0" encoding="UTF-8"?>
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<!-- XSchema for MW / INAV missions
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This file is part of INAV
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usage e.g. xmllint --noout --schema mw-mission.xsd example.mission
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Updated 2021-11-12 for 'meta' substitution.
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-->
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<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified">
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<xs:element name="mission">
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<xs:complexType>
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<xs:sequence>
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<xs:element ref="version"/>
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<xs:choice minOccurs="0" maxOccurs="unbounded">
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<xs:element ref="missionitem"/>
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<xs:element ref="mwp"/>
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<xs:element ref="fwapproach"/>
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</xs:choice>
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</xs:sequence>
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</xs:complexType>
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</xs:element>
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<xs:element name="version">
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<xs:complexType>
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<xs:attribute name="value" use="required"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="fwapproach">
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<xs:complexType>
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<xs:attribute name="no" use="required" type="xs:integer"/>
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<xs:attribute name="index" use="required" type="xs:integer"/>
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<xs:attribute name="approachalt" use="required" type="xs:integer"/>
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<xs:attribute name="landalt" use="required" type="xs:integer"/>
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<xs:attribute name="landheading1" use="required" type="xs:integer"/>
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<xs:attribute name="landheading2" use="required" type="xs:integer"/>
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<xs:attribute name="approachdirection" use="required">
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<xs:simpleType>
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<xs:restriction base="xs:token">
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<xs:enumeration value="left"/>
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<xs:enumeration value="right"/>
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</xs:restriction>
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</xs:simpleType>
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</xs:attribute>
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<xs:attribute name="sealevelref" use="required" type="xs:boolean"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="missionitem">
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<xs:complexType>
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<xs:attribute name="action" use="required">
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<xs:simpleType>
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<xs:restriction base="xs:token">
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<xs:enumeration value="UNASSIGNED"/>
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<xs:enumeration value="WAYPOINT"/>
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<xs:enumeration value="POSHOLD_UNLIM"/>
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<xs:enumeration value="POSHOLD_TIME"/>
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<xs:enumeration value="RTH"/>
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<xs:enumeration value="SET_POI"/>
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<xs:enumeration value="JUMP"/>
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<xs:enumeration value="SET_HEAD"/>
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<xs:enumeration value="LAND"/>
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</xs:restriction>
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</xs:simpleType>
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</xs:attribute>
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<!-- no min,max as may be AMSL -->
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<xs:attribute name="alt" use="required" type="xs:integer"/>
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<!--
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flag is not strictly required unless the WP is "Flyby Home"
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or the are multiple mission segments 'multi-mission', INAV 4.0
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-->
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<xs:attribute name="flag" use="optional" type="xs:integer"/>
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<!--
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Locations are decimal degrees, WGS84 (EPSG:4326)
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-->
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<xs:attribute name="lat" use="required">
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<xs:simpleType>
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<xs:restriction base="xs:decimal">
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<xs:minInclusive value="-90"/>
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<xs:maxInclusive value="90"/>
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</xs:restriction>
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</xs:simpleType>
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</xs:attribute>
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<xs:attribute name="lon" use="required">
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<xs:simpleType>
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<xs:restriction base="xs:decimal">
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<xs:minInclusive value="-180"/>
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<xs:maxInclusive value="180"/>
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</xs:restriction>
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</xs:simpleType>
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</xs:attribute>
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<!-- not really needed, but for historic compatibility ... -->
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<xs:attribute name="no" use="required" type="xs:integer"/>
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<xs:attribute name="parameter1" use="required" type="xs:integer"/>
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<xs:attribute name="parameter2" use="required" type="xs:integer"/>
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<xs:attribute name="parameter3" use="required" type="xs:integer"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="mwp">
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<xs:complexType>
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<xs:sequence>
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<xs:element ref="details" minOccurs="0"/>
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</xs:sequence>
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<xs:attribute name="cx" type="xs:decimal"/>
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<xs:attribute name="cy" type="xs:decimal"/>
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<xs:attribute name="generator"/>
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<xs:attribute name="home-x" type="xs:decimal"/>
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<xs:attribute name="home-y" type="xs:decimal"/>
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<xs:attribute name="save-date"/>
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<xs:attribute name="zoom">
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<xs:simpleType>
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<xs:restriction base="xs:integer">
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<xs:minInclusive value="0"/>
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<xs:maxInclusive value="20"/>
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</xs:restriction>
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</xs:simpleType>
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</xs:attribute>
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</xs:complexType>
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</xs:element>
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<xs:element name="details">
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<xs:complexType>
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<xs:sequence>
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<xs:element ref="distance"/>
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<xs:sequence minOccurs="0">
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<xs:element ref="nav-speed"/>
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<xs:element ref="fly-time"/>
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<xs:element ref="loiter-time"/>
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</xs:sequence>
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</xs:sequence>
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</xs:complexType>
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</xs:element>
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<xs:element name="distance">
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<xs:complexType>
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<xs:attribute name="units" use="required" type="xs:NCName"/>
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<xs:attribute name="value" use="required" type="xs:integer"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="nav-speed">
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<xs:complexType>
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<xs:attribute name="units" use="required"/>
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<xs:attribute name="value" use="required" type="xs:integer"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="fly-time">
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<xs:complexType>
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<xs:attribute name="units" use="required" type="xs:NCName"/>
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<xs:attribute name="value" use="required" type="xs:integer"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="loiter-time">
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<xs:complexType>
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<xs:attribute name="units" use="required" type="xs:NCName"/>
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<xs:attribute name="value" use="required" type="xs:integer"/>
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</xs:complexType>
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</xs:element>
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<xs:element name="meta" substitutionGroup="mwp"/>
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<xs:element name="MISSION" substitutionGroup="mission"/>
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<xs:element name="MISSIONITEM" substitutionGroup="missionitem"/>
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<xs:element name="VERSION" substitutionGroup="version"/>
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</xs:schema>
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