{
  "plan_id": "multi_waypoint_interrupt_mission",
  "root": {
    "name": "FlyThroughAllWaypoints",
    "type": "Sequence",
    "children": [{
      "type": "action",
                    "name": "arm",
                    "params": {}
                },

                    {
                "name": "preflight_checks",
                "params": {
                    "check_level": "comprehensive"
                },
                "type": "action"
            },

            {
                "name": "takeoff",
                "params": {
                    "altitude": 14.0
                },
                "type": "action"
            },
            {
                "name": "fly_to_waypoint",
                "params": {
                    "acceptance_radius": 2,
                    "x": -23.80,
                    "y": 292.80,
                    "z": 14.0
                },
                "type": "action"
            },
      {
        "name": "GoToWaypoint1",
        "type": "Selector",
        "children": [
          {
            "name": "at_waypoint",
            "type": "condition",
            "params": { "target_position": [-24.0, 241.80, 14.0]}
          },
          {
            "name": "ReactiveWork1",
            "type": "Selector",
            "children": [
              {
                "name": "SuccessIsFailure",
                "type": "decorator",
                "child": {
                  "name": "DetectHoverPhoto",
                  "type": "Sequence",
                  "children": [
                    { "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
                    { "name": "loiter", "type": "action", "params": { "time": 2.0 } }
                  ]
                }
              },
              {
                "name": "fly_to_waypoint",
                "type": "action",
                "params": { "x": 24.0, "y": 241.80, "z": 14.0 }
              }
            ]
          }
        ]
      },
      {
        "name": "GoToWaypoint2",
        "type": "Selector",
        "children": [
          {
            "name": "at_waypoint",
            "type": "condition",
            "params": { "target_position": [-107.8, 289.8, 14.0] }
          },
          {
            "name": "ReactiveWork2",
            "type": "Selector",
            "children": [
              {
                "name": "SuccessIsFailure",
                "type": "decorator",
                "child": {
                  "name": "DetectHoverPhoto",
                  "type": "Sequence",
                  "children": [
                    { "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
                    { "name": "loiter", "type": "action", "params": { "time": 2.0 } }
                  ]
                }
              },
              {
                "name": "fly_to_waypoint",
                "type": "action",
                "params": { "x": -107.8, "y": 289.8, "z": 14.0 }
              }
            ]
          }
        ]
      },
      {
        "name": "GoToWaypoint3",
        "type": "Selector",
        "children": [
          {
            "name": "at_waypoint",
            "type": "condition",
            "params": { "target_position": [-106.5, 241.3, 14.0] }
          },
          {
            "name": "ReactiveWork3",
            "type": "Selector",
            "children": [
              {
                "name": "SuccessIsFailure",
                "type": "decorator",
                "child": {
                  "name": "DetectHoverPhoto",
                  "type": "Sequence",
                  "children": [
                    { "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
                    { "name": "loiter", "type": "action", "params": { "time": 2.0 } }
                  ]
                }
              },
              {
                "name": "fly_to_waypoint",
                "type": "action",
                "params": { "x": -106.5, "y": 241.3, "z": 14.0}
              }
            ]
          }
        ]
      },
      {
        "name": "GoToWaypoint4",
        "type": "Selector",
        "children": [
          {
            "name": "at_waypoint",
            "type": "condition",
            "params": { "target_position": [-23.80, 292.80, 14.0] }
          },
          {
            "name": "ReactiveWork4",
            "type": "Selector",
            "children": [
              {
                "name": "SuccessIsFailure",
                "type": "decorator",
                "child": {
                  "name": "DetectHoverPhoto",
                  "type": "Sequence",
                  "children": [
                    { "name": "object_detect", "type": "action", "params": { "target_class": "person" } },
                    { "name": "loiter", "type": "action", "params": { "time": 2.0 } }
                  ]
                }
              },
              {
                "name": "fly_to_waypoint",
                "type": "action",
                "params": { "x": -23.80,
                    "y": 292.80,
                    "z": 14.0 }
              }
            ]
          }
        ]
      }
    ]
  }
}