LEMNISCATE

A waypoint generator for ArduPilot Mission Planner that computes the flight path for a drone to trace an infinity (∞) symbol.

Given a set of mission parameters, LEMNISCATE produces a .waypoints file ready to import into Mission Planner. Developed for the SAÜRO UAV Team as part of the 2025/2026 Teknofest Rotary Wing UAV competition.

Features

• Mathematically precise Bernoulli lemniscate parametric computation
• Configurable center point, scale, orientation, altitude, and waypoint density
• Outputs standard ArduPilot .waypoints format with optional TAKEOFF and RTL commands
• Interactive map preview (Leaflet.js) with OSM and satellite tile layers
• Import existing .waypoints missions and overlay the lemniscate on top
• Headless CLI mode for display-less ground stations (--no-gui)

Installation

pip install -r requirements.txt

Quick Start

GUI (default):

python main.py

Headless CLI:

python main.py --no-gui \
  --lat 40.7875 \
  --lon 30.3936 \
  --altitude 30 \
  --semi-locus 50 \
  --orientation 0 \
  --waypoints 36 \
  --output mission.waypoints

Parameters

Parameter	Description
--lat	Center latitude (decimal degrees)
--lon	Center longitude (decimal degrees)
--altitude	Flight altitude in meters (AGL)
--semi-locus	Scale parameter a — half the figure width (meters)
--orientation	Clockwise rotation from north (degrees)
--waypoints	Number of waypoints to generate
--output	Output file path (default: mission.waypoints)

Documentation

• Architecture
• Design
• Roadmap

License

MIT