[
    {
        "id": "27129f80a96ce509",
        "type": "ros2-websocket-server",
        "url": "${ROS2_WEBSOCKET_URL}"
    },
    {
        "id": "2ee38794734c2d27",
        "type": "ui_tab",
        "name": "AVR Mission 1",
        "icon": "dashboard",
        "order": 2,
        "disabled": false,
        "hidden": false
    },
    {
        "id": "4166ed8cf4b1e7d4",
        "type": "ui_group",
        "name": "Main",
        "tab": "2ee38794734c2d27",
        "order": 1,
        "disp": true,
        "width": 12,
        "collapse": false,
        "className": ""
    },
    {
        "id": "a691db1a9e113a84",
        "type": "tab",
        "label": "PX4 Arm, Takeoff, and Land",
        "disabled": false,
        "info": "",
        "env": []
    },
    {
        "id": "ae776f6d1da02661",
        "type": "ui_text",
        "z": "a691db1a9e113a84",
        "group": "4166ed8cf4b1e7d4",
        "order": 14,
        "width": 0,
        "height": 0,
        "name": "",
        "label": "Altitude",
        "format": "{{msg.payload}}",
        "layout": "row-spread",
        "className": "",
        "style": false,
        "font": "",
        "fontSize": 16,
        "color": "#000000",
        "x": 820,
        "y": 60,
        "wires": []
    },
    {
        "id": "124ecd64576594fd",
        "type": "ros2-subscribe",
        "z": "a691db1a9e113a84",
        "server": "27129f80a96ce509",
        "topicname": "/fmu/out/vehicle_global_position",
        "messagetype": "",
        "x": 130,
        "y": 180,
        "wires": [
            [
                "dbbf851b16148a77"
            ]
        ]
    },
    {
        "id": "8eeeac07046c07bc",
        "type": "function",
        "z": "a691db1a9e113a84",
        "name": "round altitude",
        "func": "msg.payload = Math.round((msg.payload.alt) * 100) / 100\nreturn msg",
        "outputs": 1,
        "timeout": 0,
        "noerr": 0,
        "initialize": "",
        "finalize": "",
        "libs": [],
        "x": 580,
        "y": 80,
        "wires": [
            [
                "ae776f6d1da02661",
                "dbb0a6a6836672cb"
            ]
        ]
    },
    {
        "id": "dbb0a6a6836672cb",
        "type": "change",
        "z": "a691db1a9e113a84",
        "name": "",
        "rules": [
            {
                "t": "set",
                "p": "drone_altitude",
                "pt": "flow",
                "to": "payload",
                "tot": "msg"
            }
        ],
        "action": "",
        "property": "",
        "from": "",
        "to": "",
        "reg": false,
        "x": 860,
        "y": 120,
        "wires": [
            []
        ]
    },
    {
        "id": "86049deb15395654",
        "type": "debug",
        "z": "a691db1a9e113a84",
        "name": "debug 5",
        "active": true,
        "tosidebar": true,
        "console": false,
        "tostatus": false,
        "complete": "false",
        "statusVal": "",
        "statusType": "auto",
        "x": 460,
        "y": 460,
        "wires": []
    },
    {
        "id": "ba286d4657da79aa",
        "type": "ros2-publish",
        "z": "a691db1a9e113a84",
        "server": "27129f80a96ce509",
        "topicname": "/fmu/in/vehicle_command",
        "messagetype": "px4_msgs/msg/VehicleCommand",
        "stampheader": false,
        "x": 510,
        "y": 380,
        "wires": [
            []
        ]
    },
    {
        "id": "dbbf851b16148a77",
        "type": "delay",
        "z": "a691db1a9e113a84",
        "name": "",
        "pauseType": "rate",
        "timeout": "5",
        "timeoutUnits": "seconds",
        "rate": "1",
        "nbRateUnits": "1",
        "rateUnits": "second",
        "randomFirst": "1",
        "randomLast": "5",
        "randomUnits": "seconds",
        "drop": true,
        "allowrate": false,
        "outputs": 1,
        "x": 370,
        "y": 180,
        "wires": [
            [
                "8eeeac07046c07bc",
                "a1e737cb92abf1f5",
                "c395d188ef1c9d18",
                "6bd891e55027cd3a"
            ]
        ]
    },
    {
        "id": "386e0bdcda50bed8",
        "type": "arm",
        "z": "a691db1a9e113a84",
        "name": "",
        "x": 310,
        "y": 340,
        "wires": [
            [
                "ba286d4657da79aa"
            ]
        ]
    },
    {
        "id": "4464420002130254",
        "type": "inject",
        "z": "a691db1a9e113a84",
        "name": "",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 160,
        "y": 340,
        "wires": [
            [
                "386e0bdcda50bed8"
            ]
        ]
    },
    {
        "id": "a1e737cb92abf1f5",
        "type": "function",
        "z": "a691db1a9e113a84",
        "name": "latitude",
        "func": "msg.payload = msg.payload.lat\nreturn msg;",
        "outputs": 1,
        "timeout": 0,
        "noerr": 0,
        "initialize": "",
        "finalize": "",
        "libs": [],
        "x": 560,
        "y": 180,
        "wires": [
            [
                "4b71f66bf533618a",
                "ba80fdd4b8731061"
            ]
        ]
    },
    {
        "id": "6bd891e55027cd3a",
        "type": "debug",
        "z": "a691db1a9e113a84",
        "name": "print drone location",
        "active": false,
        "tosidebar": true,
        "console": false,
        "tostatus": false,
        "complete": "payload",
        "targetType": "msg",
        "statusVal": "",
        "statusType": "auto",
        "x": 310,
        "y": 80,
        "wires": []
    },
    {
        "id": "c395d188ef1c9d18",
        "type": "function",
        "z": "a691db1a9e113a84",
        "name": "longitude",
        "func": "msg.payload = msg.payload.lon\nreturn msg;",
        "outputs": 1,
        "timeout": 0,
        "noerr": 0,
        "initialize": "",
        "finalize": "",
        "libs": [],
        "x": 560,
        "y": 280,
        "wires": [
            [
                "f6c1daa76322acba",
                "ecb1849d8cdb5fba"
            ]
        ]
    },
    {
        "id": "4b71f66bf533618a",
        "type": "ui_text",
        "z": "a691db1a9e113a84",
        "group": "4166ed8cf4b1e7d4",
        "order": 14,
        "width": 0,
        "height": 0,
        "name": "",
        "label": "Latitude",
        "format": "{{msg.payload}}",
        "layout": "row-spread",
        "className": "",
        "style": false,
        "font": "",
        "fontSize": 16,
        "color": "#000000",
        "x": 820,
        "y": 180,
        "wires": []
    },
    {
        "id": "f6c1daa76322acba",
        "type": "ui_text",
        "z": "a691db1a9e113a84",
        "group": "4166ed8cf4b1e7d4",
        "order": 14,
        "width": 0,
        "height": 0,
        "name": "",
        "label": "Longitude",
        "format": "{{msg.payload}}",
        "layout": "row-spread",
        "className": "",
        "style": false,
        "font": "",
        "fontSize": 16,
        "color": "#000000",
        "x": 820,
        "y": 300,
        "wires": []
    },
    {
        "id": "ba80fdd4b8731061",
        "type": "change",
        "z": "a691db1a9e113a84",
        "name": "flow.drone_latitude",
        "rules": [
            {
                "t": "set",
                "p": "drone_latitude",
                "pt": "flow",
                "to": "payload",
                "tot": "msg"
            }
        ],
        "action": "",
        "property": "",
        "from": "",
        "to": "",
        "reg": false,
        "x": 850,
        "y": 240,
        "wires": [
            []
        ]
    },
    {
        "id": "ecb1849d8cdb5fba",
        "type": "change",
        "z": "a691db1a9e113a84",
        "name": "flow.drone_latitude",
        "rules": [
            {
                "t": "set",
                "p": "drone_longitude",
                "pt": "flow",
                "to": "payload",
                "tot": "msg"
            }
        ],
        "action": "",
        "property": "",
        "from": "",
        "to": "",
        "reg": false,
        "x": 850,
        "y": 360,
        "wires": [
            []
        ]
    },
    {
        "id": "3e0c8785a15f6a18",
        "type": "inject",
        "z": "a691db1a9e113a84",
        "name": "",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 160,
        "y": 400,
        "wires": [
            [
                "9a5933e0dbdaedcc"
            ]
        ]
    },
    {
        "id": "9a5933e0dbdaedcc",
        "type": "function",
        "z": "a691db1a9e113a84",
        "name": "takeoff",
        "func": "let json = {\n    \"command\": 22, \n    \"param1\": -1, \n    \"param2\": 0, \n    \"param3\": 0, \n    \"param4\": 0, \n    \"param5\": flow.get(\"drone_latitude\"), \n    \"param6\": flow.get(\"drone_longitude\"), \n    \"param7\": flow.get(\"drone_altitude\") + 3\n}\nmsg.payload = json\nreturn msg",
        "outputs": 1,
        "timeout": 0,
        "noerr": 0,
        "initialize": "",
        "finalize": "",
        "libs": [],
        "x": 310,
        "y": 400,
        "wires": [
            [
                "86049deb15395654",
                "ba286d4657da79aa"
            ]
        ]
    },
    {
        "id": "a3c175e5e85914c8",
        "type": "land",
        "z": "a691db1a9e113a84",
        "name": "",
        "x": 310,
        "y": 460,
        "wires": [
            [
                "ba286d4657da79aa"
            ]
        ]
    },
    {
        "id": "c2eeada9357d6016",
        "type": "inject",
        "z": "a691db1a9e113a84",
        "name": "",
        "props": [
            {
                "p": "payload"
            },
            {
                "p": "topic",
                "vt": "str"
            }
        ],
        "repeat": "",
        "crontab": "",
        "once": false,
        "onceDelay": 0.1,
        "topic": "",
        "payload": "",
        "payloadType": "date",
        "x": 160,
        "y": 460,
        "wires": [
            [
                "a3c175e5e85914c8"
            ]
        ]
    }
]