docs/development/wp_mission_schema/mw-mission.xsd

   1 <?xml version="1.0" encoding="UTF-8"?>
   2 <!-- XSchema for MW / INAV missions
   3      This file is part of INAV
   4      usage  e.g. xmllint --noout --schema mw-mission.xsd example.mission
   5      Updated 2021-11-12 for 'meta' substitution.
   6 -->
   7 <xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified">
   8   <xs:element name="mission">
   9     <xs:complexType>
  10       <xs:sequence>
  11         <xs:element ref="version"/>
  12         <xs:choice minOccurs="0" maxOccurs="unbounded">
  13           <xs:element ref="missionitem"/>
  14           <xs:element ref="mwp"/>
  15         </xs:choice>
  16       </xs:sequence>
  17     </xs:complexType>
  18   </xs:element>
  19   <xs:element name="version">
  20     <xs:complexType>
  21       <xs:attribute name="value" use="required"/>
  22     </xs:complexType>
  23   </xs:element>
  24   <xs:element name="missionitem">
  25     <xs:complexType>
  26       <xs:attribute name="action" use="required">
  27         <xs:simpleType>
  28           <xs:restriction base="xs:token">
  29             <xs:enumeration value="UNASSIGNED"/>
  30             <xs:enumeration value="WAYPOINT"/>
  31             <xs:enumeration value="POSHOLD_UNLIM"/>
  32             <xs:enumeration value="POSHOLD_TIME"/>
  33             <xs:enumeration value="RTH"/>
  34             <xs:enumeration value="SET_POI"/>
  35             <xs:enumeration value="JUMP"/>
  36             <xs:enumeration value="SET_HEAD"/>
  37             <xs:enumeration value="LAND"/>
  38           </xs:restriction>
  39         </xs:simpleType>
  40       </xs:attribute>
  41       <!-- no min,max as may be AMSL -->
  42       <xs:attribute name="alt" use="required" type="xs:integer"/>
  43       <!--
  44            flag is not strictly required unless the WP is "Flyby Home"
  45            or the are multiple mission segments 'multi-mission', INAV 4.0
  46       -->
  47       <xs:attribute name="flag" use="optional" type="xs:integer"/>
  48       <!--
  49           Locations are decimal degrees, WGS84 (EPSG:4326)
  50       -->
  51       <xs:attribute name="lat" use="required">
  52         <xs:simpleType>
  53           <xs:restriction base="xs:decimal">
  54             <xs:minInclusive value="-90"/>
  55             <xs:maxInclusive value="90"/>
  56           </xs:restriction>
  57         </xs:simpleType>
  58       </xs:attribute>
  59       <xs:attribute name="lon" use="required">
  60         <xs:simpleType>
  61           <xs:restriction base="xs:decimal">
  62             <xs:minInclusive value="-180"/>
  63             <xs:maxInclusive value="180"/>
  64           </xs:restriction>
  65         </xs:simpleType>
  66       </xs:attribute>
  67       <!-- not really needed, but for historic compatibility ... -->
  68       <xs:attribute name="no" use="required" type="xs:integer"/>
  69       <xs:attribute name="parameter1" use="required" type="xs:integer"/>
  70       <xs:attribute name="parameter2" use="required" type="xs:integer"/>
  71       <xs:attribute name="parameter3" use="required" type="xs:integer"/>
  72     </xs:complexType>
  73   </xs:element>
  74   <xs:element name="mwp">
  75     <xs:complexType>
  76       <xs:sequence>
  77         <xs:element ref="details"  minOccurs="0"/>
  78       </xs:sequence>
  79       <xs:attribute name="cx" type="xs:decimal"/>
  80       <xs:attribute name="cy" type="xs:decimal"/>
  81       <xs:attribute name="generator"/>
  82       <xs:attribute name="home-x" type="xs:decimal"/>
  83       <xs:attribute name="home-y" type="xs:decimal"/>
  84       <xs:attribute name="save-date"/>
  85       <xs:attribute name="zoom">
  86         <xs:simpleType>
  87           <xs:restriction base="xs:integer">
  88             <xs:minInclusive value="0"/>
  89             <xs:maxInclusive value="20"/>
  90           </xs:restriction>
  91         </xs:simpleType>
  92       </xs:attribute>
  93     </xs:complexType>
  94   </xs:element>
  95   <xs:element name="details">
  96     <xs:complexType>
  97       <xs:sequence>
  98         <xs:element ref="distance"/>
  99         <xs:sequence minOccurs="0">
 100           <xs:element ref="nav-speed"/>
 101           <xs:element ref="fly-time"/>
 102           <xs:element ref="loiter-time"/>
 103         </xs:sequence>
 104       </xs:sequence>
 105     </xs:complexType>
 106   </xs:element>
 107   <xs:element name="distance">
 108     <xs:complexType>
 109       <xs:attribute name="units" use="required" type="xs:NCName"/>
 110       <xs:attribute name="value" use="required" type="xs:integer"/>
 111     </xs:complexType>
 112   </xs:element>
 113   <xs:element name="nav-speed">
 114     <xs:complexType>
 115       <xs:attribute name="units" use="required"/>
 116       <xs:attribute name="value" use="required" type="xs:integer"/>
 117     </xs:complexType>
 118   </xs:element>
 119   <xs:element name="fly-time">
 120     <xs:complexType>
 121       <xs:attribute name="units" use="required" type="xs:NCName"/>
 122       <xs:attribute name="value" use="required" type="xs:integer"/>
 123     </xs:complexType>
 124   </xs:element>
 125   <xs:element name="loiter-time">
 126     <xs:complexType>
 127       <xs:attribute name="units" use="required" type="xs:NCName"/>
 128       <xs:attribute name="value" use="required" type="xs:integer"/>
 129     </xs:complexType>
 130   </xs:element>
 131   <xs:element name="meta" substitutionGroup="mwp"/>
 132   <xs:element name="MISSION" substitutionGroup="mission"/>
 133   <xs:element name="MISSIONITEM" substitutionGroup="missionitem"/>
 134   <xs:element name="VERSION" substitutionGroup="version"/>
 135 </xs:schema>