custom_config/waypoint_flier.yaml

# rates of timers in Hz
rate:
  publish_dist_to_waypoint: 1 # [Hz]
  publish_reference: 10 # [Hz]
  check_subscribers: 1 # [Hz]

# number of times the waypoint sequence should be repeated
n_loops: 1 # [-]

# should the UAV land after flying through all the waypoints?
land_at_the_end: false

# how long should the UAV idle at a waypoint?
waypoint_idle_time: 2.0

# matrix of waypoints which will be flown through by the UAV
# x [m], y [m], z [m], heading [rad]
waypoints: [4.5, -4.5, 1.8, -1.57,
            -4.5, -4.5, 1.8, 3.14,
            -4.5, 4.5, 1.8, 1.57,
            4.5, 4.5, 1.8, 0.0]

# in which frame of reference are the points specified?
waypoints_frame: "gps_origin"

# offset will be added to all waypoints
# x [m], y [m], z [m], yaw [rad]
offset: [0, 0, 0, 0]