inav/docs/development/wp_mission_schema/mw-mission.xsd

<?xml version="1.0" encoding="UTF-8"?>
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
	   elementFormDefault="qualified">
  <!-- XSchema for MW / iNav missions
       e.g. xmllint -​-format -​-schema mw-mission.xsd example.mission
  -->
  <xs:element name="mission">
    <xs:complexType>
      <xs:sequence>
        <xs:element ref="version"/>
        <xs:element ref="mwp"  minOccurs="0" maxOccurs="unbounded"/>
        <xs:element maxOccurs="unbounded" ref="missionitem"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
  <xs:element name="version">
    <xs:complexType>
      <xs:attribute name="value" use="required"/>
    </xs:complexType>
  </xs:element>
  <!-- mwp extension -->
  <xs:element name="mwp">
    <xs:complexType>
      <xs:sequence>
        <xs:element ref="details"  minOccurs="0"/>
      </xs:sequence>
      <xs:attribute name="cx" type="xs:decimal"/>
      <xs:attribute name="cy" type="xs:decimal"/>
      <xs:attribute name="home-x" type="xs:decimal"/>
      <xs:attribute name="home-y" type="xs:decimal"/>
      <xs:attribute name="save-date" use="required" />
      <xs:attribute name="generator" type="xs:string"/>
      <xs:attribute name="zoom">
	<xs:simpleType>
          <xs:restriction base="xs:integer">
	    <xs:minInclusive value="0"/>
	    <xs:maxInclusive value="20"/>
	  </xs:restriction>
	</xs:simpleType>
      </xs:attribute>
    </xs:complexType>
  </xs:element>
  <xs:element name="details">
    <xs:complexType>
      <xs:sequence>
        <xs:element ref="distance" minOccurs="0"/>
        <xs:element ref="nav-speed" minOccurs="0"/>
        <xs:element ref="fly-time" minOccurs="0"/>
        <xs:element ref="loiter-time" minOccurs="0"/>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
  <xs:element name="distance">
    <xs:complexType>
      <xs:attribute name="units" use="required" type="xs:NCName"/>
      <xs:attribute name="value" use="required" type="xs:decimal"/>
    </xs:complexType>
  </xs:element>
  <xs:element name="nav-speed">
    <xs:complexType>
      <xs:attribute name="units" use="required"/>
      <xs:attribute name="value" use="required" type="xs:decimal"/>
    </xs:complexType>
  </xs:element>
  <xs:element name="fly-time">
    <xs:complexType>
      <xs:attribute name="units" use="required" type="xs:NCName"/>
      <xs:attribute name="value" use="required" type="xs:integer"/>
    </xs:complexType>
  </xs:element>
  <xs:element name="loiter-time">
    <xs:complexType>
      <xs:attribute name="units" use="required" type="xs:NCName"/>
      <xs:attribute name="value" use="required" type="xs:integer"/>
    </xs:complexType>
  </xs:element>
  <xs:element name="missionitem">
    <xs:complexType>
      <xs:attribute name="action" use="required">
	<xs:simpleType>
	  <xs:restriction base="xs:token">
	    <xs:enumeration value="UNASSIGNED"/>
	    <xs:enumeration value="WAYPOINT"/>
	    <xs:enumeration value="POSHOLD_UNLIM"/>
	    <xs:enumeration value="POSHOLD_TIME"/>
	    <xs:enumeration value="RTH"/>
	    <xs:enumeration value="SET_POI"/>
	    <xs:enumeration value="JUMP"/>
	    <xs:enumeration value="SET_HEAD"/>
	    <xs:enumeration value="LAND"/>
	  </xs:restriction>
	</xs:simpleType>
      </xs:attribute>
      <!-- no min,max as may be AMSL -->
      <xs:attribute name="alt" use="required" type="xs:integer"/>

      <!--
	     Locations are decimal degrees, WGS84 (EPSG:4326)
	-->
      <xs:attribute name="lat" use="required">
	<xs:simpleType>
          <xs:restriction base="xs:decimal">
	    <xs:minInclusive value="-90"/>
	    <xs:maxInclusive value="90"/>
          </xs:restriction>
	</xs:simpleType>
      </xs:attribute>
      <xs:attribute name="lon" use="required">
	<xs:simpleType>
          <xs:restriction base="xs:decimal">
	    <xs:minInclusive value="-180"/>
	    <xs:maxInclusive value="180"/>
          </xs:restriction>
	</xs:simpleType>
      </xs:attribute>
      <xs:attribute name="no" use="required" type="xs:integer"/>
      <xs:attribute name="parameter1" use="required" type="xs:integer"/>
      <xs:attribute name="parameter2" use="required" type="xs:integer"/>
      <xs:attribute name="parameter3" type="xs:integer"/>
      <!--
	   flag is not strictly required unless the WP is "Flyby Home"
	   or the are multiple mission segments 'multi-mission', inav 4.0
      -->
      <xs:attribute name="flag" use="optional" type="xs:integer"/>
    </xs:complexType>
  </xs:element>

  <xs:element name="MISSION" substitutionGroup="mission"/>
  <xs:element name="MISSIONITEM" substitutionGroup="missionitem"/>
  <xs:element name="VERSION" substitutionGroup="version"/>

</xs:schema>