actuator_protocol.xml

<?xml version="1.0"?>
<PropertyList>
<generic>
   <input>
      <line_separator>newline</line_separator>
      <var_separator>tab</var_separator>

      <!--
          The plane's current mode. Set it to one
          of the following:

          off

          Do nothing.

          to/ga
          
          The plane will complete its pre-takeoff checklist,
          proceed to take off and reach a safe altitude
          and start to encircle the surrounding area.

          cruise
          
          The plane will adjust to the desired heading and 
          desired altitude. If no altitude is given, it will just
          climb to 30000 ft. It will then accelerate to cruising
          speed (around 300 knots).

          land

          The plane will attempt to land at a local airport (feel free
          to add a destination property containing the destination airport)
      -->
      <chunk>
        <name>/uav/planner/mode</name>
        <node>/uav/planner/mode</node>
        <type>string</type>
      </chunk>

      <!--
          Set the plane's desired heading. If you'd
          like to add a deadline as well, we could
          add that.
      -->
      <chunk>
         <name>/uav/planner/heading</name>
         <node>/uav/planner/heading</node>
         <type>float</type>
      </chunk>

      <!--
          Set the plane's desired altitude
      -->
      <chunk>
        <name>/uav/planner/altitude</name>
        <node>/uav/planner/altitude</node>
        <type>int</type>
      </chunk>
   </input>
</generic>
</PropertyList>