# Missions

This directory contains example mission outputs generated by the DQN path planner.

The mission files show how a sequence of DQN-selected actions can be converted into geodetic waypoints for downstream drone simulation or ground-control workflows.

## Contents

| File | Description |
|---|---|
| `final_mission_file.txt` | Example mission output in ArduPilot/QGroundControl-compatible waypoint format |
| `final_mission_file.csv` | Simplified CSV version of the generated mission path, useful for plotting or inspection |

## Mission TXT Format

The `.txt` mission file follows the legacy QGroundControl waypoint text format and begins with:

```text
QGC WPL 110
```

Each subsequent row is a tab-separated mission item with fields for:

- mission item index
- current waypoint flag
- coordinate frame
- MAVLink command ID
- command parameters
- latitude
- longitude
- altitude
- autocontinue flag

The generated mission path uses command IDs such as:

| Command ID | Meaning |
|---:|---|
| `22` | Takeoff command |
| `82` | Spline waypoint command |
| `20` | Return-to-launch command |

Most generated path points are written as spline waypoint commands, with latitude, longitude, and altitude updated from the DQN-generated action sequence.

## Mission CSV Format

The `.csv` file is a simplified version of the generated path.

It contains selected waypoint information, typically including:

- index
- latitude
- longitude

This format is easier to inspect, plot, or use for lightweight analysis.

## Notes

These mission files are included as examples of the planner output.

New generated mission files may be created when running `path_planner.py` with TXT or CSV export enabled. Additional generated mission files should only be committed if they are intentionally selected as documentation examples.