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:element ref="fwapproach"/>
  16         </xs:choice>
  17       </xs:sequence>
  18     </xs:complexType>
  19   </xs:element>
  20   <xs:element name="version">
  21     <xs:complexType>
  22       <xs:attribute name="value" use="required"/>
  23     </xs:complexType>
  24   </xs:element>
  25   <xs:element name="fwapproach">
  26     <xs:complexType>
  27       <xs:attribute name="no" use="required" type="xs:integer"/>
  28       <xs:attribute name="index" use="required" type="xs:integer"/>
  29       <xs:attribute name="approachalt" use="required" type="xs:integer"/>
  30       <xs:attribute name="landalt" use="required" type="xs:integer"/>
  31       <xs:attribute name="landheading1" use="required" type="xs:integer"/>
  32       <xs:attribute name="landheading2" use="required" type="xs:integer"/>
  33       <xs:attribute name="approachdirection" use="required">
  34         <xs:simpleType>
  35           <xs:restriction base="xs:token">
  36             <xs:enumeration value="left"/>
  37             <xs:enumeration value="right"/>
  38           </xs:restriction>
  39         </xs:simpleType>
  40       </xs:attribute>
  41       <xs:attribute name="sealevelref" use="required" type="xs:boolean"/>
  42     </xs:complexType>
  43   </xs:element>
  44   <xs:element name="missionitem">
  45     <xs:complexType>
  46       <xs:attribute name="action" use="required">
  47         <xs:simpleType>
  48           <xs:restriction base="xs:token">
  49             <xs:enumeration value="UNASSIGNED"/>
  50             <xs:enumeration value="WAYPOINT"/>
  51             <xs:enumeration value="POSHOLD_UNLIM"/>
  52             <xs:enumeration value="POSHOLD_TIME"/>
  53             <xs:enumeration value="RTH"/>
  54             <xs:enumeration value="SET_POI"/>
  55             <xs:enumeration value="JUMP"/>
  56             <xs:enumeration value="SET_HEAD"/>
  57             <xs:enumeration value="LAND"/>
  58           </xs:restriction>
  59         </xs:simpleType>
  60       </xs:attribute>
  61       <!-- no min,max as may be AMSL -->
  62       <xs:attribute name="alt" use="required" type="xs:integer"/>
  63       <!--
  64            flag is not strictly required unless the WP is "Flyby Home"
  65            or the are multiple mission segments 'multi-mission', INAV 4.0
  66       -->
  67       <xs:attribute name="flag" use="optional" type="xs:integer"/>
  68       <!--
  69           Locations are decimal degrees, WGS84 (EPSG:4326)
  70       -->
  71       <xs:attribute name="lat" use="required">
  72         <xs:simpleType>
  73           <xs:restriction base="xs:decimal">
  74             <xs:minInclusive value="-90"/>
  75             <xs:maxInclusive value="90"/>
  76           </xs:restriction>
  77         </xs:simpleType>
  78       </xs:attribute>
  79       <xs:attribute name="lon" use="required">
  80         <xs:simpleType>
  81           <xs:restriction base="xs:decimal">
  82             <xs:minInclusive value="-180"/>
  83             <xs:maxInclusive value="180"/>
  84           </xs:restriction>
  85         </xs:simpleType>
  86       </xs:attribute>
  87       <!-- not really needed, but for historic compatibility ... -->
  88       <xs:attribute name="no" use="required" type="xs:integer"/>
  89       <xs:attribute name="parameter1" use="required" type="xs:integer"/>
  90       <xs:attribute name="parameter2" use="required" type="xs:integer"/>
  91       <xs:attribute name="parameter3" use="required" type="xs:integer"/>
  92     </xs:complexType>
  93   </xs:element>
  94   <xs:element name="mwp">
  95     <xs:complexType>
  96       <xs:sequence>
  97         <xs:element ref="details"  minOccurs="0"/>
  98       </xs:sequence>
  99       <xs:attribute name="cx" type="xs:decimal"/>
 100       <xs:attribute name="cy" type="xs:decimal"/>
 101       <xs:attribute name="generator"/>
 102       <xs:attribute name="home-x" type="xs:decimal"/>
 103       <xs:attribute name="home-y" type="xs:decimal"/>
 104       <xs:attribute name="save-date"/>
 105       <xs:attribute name="zoom">
 106         <xs:simpleType>
 107           <xs:restriction base="xs:integer">
 108             <xs:minInclusive value="0"/>
 109             <xs:maxInclusive value="20"/>
 110           </xs:restriction>
 111         </xs:simpleType>
 112       </xs:attribute>
 113     </xs:complexType>
 114   </xs:element>
 115   <xs:element name="details">
 116     <xs:complexType>
 117       <xs:sequence>
 118         <xs:element ref="distance"/>
 119         <xs:sequence minOccurs="0">
 120           <xs:element ref="nav-speed"/>
 121           <xs:element ref="fly-time"/>
 122           <xs:element ref="loiter-time"/>
 123         </xs:sequence>
 124       </xs:sequence>
 125     </xs:complexType>
 126   </xs:element>
 127   <xs:element name="distance">
 128     <xs:complexType>
 129       <xs:attribute name="units" use="required" type="xs:NCName"/>
 130       <xs:attribute name="value" use="required" type="xs:integer"/>
 131     </xs:complexType>
 132   </xs:element>
 133   <xs:element name="nav-speed">
 134     <xs:complexType>
 135       <xs:attribute name="units" use="required"/>
 136       <xs:attribute name="value" use="required" type="xs:integer"/>
 137     </xs:complexType>
 138   </xs:element>
 139   <xs:element name="fly-time">
 140     <xs:complexType>
 141       <xs:attribute name="units" use="required" type="xs:NCName"/>
 142       <xs:attribute name="value" use="required" type="xs:integer"/>
 143     </xs:complexType>
 144   </xs:element>
 145   <xs:element name="loiter-time">
 146     <xs:complexType>
 147       <xs:attribute name="units" use="required" type="xs:NCName"/>
 148       <xs:attribute name="value" use="required" type="xs:integer"/>
 149     </xs:complexType>
 150   </xs:element>
 151   <xs:element name="meta" substitutionGroup="mwp"/>
 152   <xs:element name="MISSION" substitutionGroup="mission"/>
 153   <xs:element name="MISSIONITEM" substitutionGroup="missionitem"/>
 154   <xs:element name="VERSION" substitutionGroup="version"/>
 155 </xs:schema>