diff --git a/waypoints_A0_circle.txt b/waypoints_A0_circle.txt
new file mode 100644
index 0000000000000000000000000000000000000000..776ec04deac9a3d22d4d79f55db31e2d6f603348
--- /dev/null
+++ b/waypoints_A0_circle.txt
@@ -0,0 +1,11 @@
+	0	1.75	0.5	-0.8	0	0	1	0.1	2000
+	1	1.75	0.5	-0.8	0	1	0	0.1	2000
+	2	0.6	0.5	-0.8	0	0	0	0.1	2000
+	3	0.5	1.5	-0.8	0	1	0	0.1	2000
+	4	0.5	2.8	-0.8	0	1	0	0.1	2000
+	5	1.75	2.8	-0.8	0	1	0	0.1	2000
+	6	2.8	2.8	-0.8	0	1	0	0.1	2000
+	7	2.8	1.75	-0.8	0	1	0	0.1	2000
+	8	2.8	0.5	-0.8	0	1	0	0.1	2000
+	9	1.75	0.5	-0.8	0	1	0	0.1	2000
+	10	1.75	0.5	0	0	1	0	0.1	2000