<xml>
    <object name="PathAction" singleinstance="false" settings="false" category="Navigation">
        <description>A waypoint command the pathplanner is to use at a certain waypoint</description>

	    <!-- ensure the following Mode options are exactly the same as in pathdesired mode -->
        <field name="Mode" units="" type="enum" elements="1" options="GoToEndpoint,FollowVector,CircleRight,CircleLeft,
            FixedAttitude,SetAccessory,DisarmAlarm,Land,Brake,Velocity,AutoTakeoff" default="GoToEndpoint" />
            
        <field name="ModeParameters" units="" type="float" elements="4" default="0"/>
        <field name="EndCondition" units="" type="enum" elements="1" options="None,TimeOut,
            DistanceToTarget,LegRemaining,BelowError,AboveAltitude,AboveSpeed,PointingTowardsNext,
            PythonScript,Immediate" default="None" />
        <field name="ConditionParameters" units="" type="float" elements="4" default="0"/>
        <field name="Command" units="" type="enum" elements="1" options="OnConditionNextWaypoint,OnNotConditionNextWaypoint,
            OnConditionJumpWaypoint,OnNotConditionJumpWaypoint,
            IfConditionJumpWaypointElseNextWaypoint" default="OnConditionNextWaypoint" />
        <field name="JumpDestination" units="waypoint" type="int16" elements="1" default="0"/>
        <field name="ErrorDestination" units="waypoint" type="int16" elements="1" default="0"/>

        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="true" updatemode="manual" period="0"/>
        <telemetryflight acked="true" updatemode="manual" period="0"/>
        <logging updatemode="manual" period="0"/>
    </object>
</xml>
