Missions

V-formation pointed in heading_deg direction.

First drone is the leader at the tip.

Arrange drones in a line perpendicular to heading_deg.

Returns one waypoint list per drone.

Divide a rectangular area into strips using Boustrophedon decomposition.

This is a backwards-compatible wrapper around :func:polygon_sweep. The rectangle defined by the SW and NE corners is converted to a polygon and swept with the lawnmower pattern.

Each drone sweeps its assigned strips. The function preserves the old contract: returns one waypoint list per drone.

Boustrophedon (lawnmower) decomposition for an arbitrary polygon.

Parameters:

Name	Type	Description	Default
polygon	list[tuple[float, float]]	List of (lat, lon) vertices defining the area.	required
altitude	float	Flight altitude in meters.	required
num_drones	int	Number of drones to split the work across.	required
overlap_pct	float	Percentage overlap between adjacent sweep lines (0-100).	0.0
line_spacing_m	float	Base distance in meters between sweep lines before overlap adjustment.	20.0

Returns:

Type	Description
list[list[Waypoint]]	A list of waypoint lists, one per drone.

Drones orbit a point of interest, evenly spaced around the circle.