QGC Plan Format Example

Plan Format

{
    "fileType": "Plan",
    "geoFence": {
        "breachReturn": [
            -34.92845989962295,
            138.58120311679926
        ],
        "polygon": [
            [
                -34.88243164765111,
                138.48748736439111
            ],
            [
                -34.87417589927578,
                138.64297151747618
            ],
            [
                -35.04186224348742,
                138.68734766904086
            ],
            [
                -35.00259505076658,
                138.49990160366318
            ]
        ],
        "version": 1
    },
    "groundStation": "QGroundControl",
    "mission": {
        "cruiseSpeed": 15,
        "firmwareType": 3,
        "hoverSpeed": 5,
        "items": [
            {
                "autoContinue": true,
                "command": 112,
                "doJumpId": 1,
                "frame": 2,
                "params": [
                    30,
                    0,
                    0,
                    0,
                    0,
                    0,
                    50
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 203,
                "doJumpId": 2,
                "frame": 5,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    50
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 205,
                "doJumpId": 3,
                "frame": 2,
                "params": [
                    -10,
                    0,
                    50,
                    0,
                    0,
                    0,
                    2
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 2000,
                "doJumpId": 4,
                "frame": 2,
                "params": [
                    0,
                    0,
                    1,
                    null,
                    null,
                    null,
                    null
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 178,
                "doJumpId": 5,
                "frame": 2,
                "params": [
                    0,
                    15,
                    -1,
                    0,
                    0,
                    0,
                    0
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 16,
                "doJumpId": 6,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    -34.98668467,
                    138.59600364,
                    50
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 16,
                "doJumpId": 7,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    -35.03662793,
                    138.61494831,
                    50
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 16,
                "doJumpId": 8,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    -34.90321632,
                    138.61672437,
                    50
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 16,
                "doJumpId": 9,
                "frame": 3,
                "params": [
                    0,
                    0,
                    0,
                    0,
                    -34.9003031,
                    138.55278611,
                    50
                ],
                "type": "SimpleItem"
            },
            {
                "autoContinue": true,
                "command": 21,
                "doJumpId": 10,
                "frame": 3,
                "params": [
                    25,
                    0,
                    0,
                    0,
                    -34.90490994671432,
                    138.51418695819024,
                    0
                ],
                "type": "SimpleItem"
            }
        ],
        "plannedHomePosition": [
            -34.96604091382312,
            138.54627388,
            50
        ],
        "vehicleType": 1,
        "version": 2
    },
    "rallyPoints": {
        "points": [
            [
                -34.947872753510126,
                138.57350683988938,
                50
            ]
        ],
        "version": 1
    },
    "version": 1
}