type: Sequence
name: Yalla_Mission
children:
  - action: takeoff
    name: "Takeoff to 40m"
    params:
      takeoff_altitude: 40.0
      vtol_transition_heading: 330.0
      vtol_loiter_north: 100.0
      vtol_loiter_east: 100.0
      vtol_loiter_alt: 80.0
      
  - action: orbit
    name: "Orbit North-North-East"
    params:
      east: 30.0
      north: 150.0
      altitude: 90.0
      radius: 40.0

  - action: wait
    name: "Stay in orbit for 60s"
    params:
      duration: 60.0
      
  - action: land
    name: "Return and land at 40m"
    params:
      landing_altitude: 40.0
      vtol_transition_heading: 60.0

run_with:
  ros2 run mission mission --conops yalla.yaml --ros-args -r __ns:=/Drone$DRONE_ID -p use_sim_time:=true