Maybe we can do something together on this. I’m working on trying to bring OA into Plane - and right away I have similar challenges. I’ve seen exactly what you are talking about with the path planning just skipping part of the pre-planned path - I think it just decides it can get to the end of the mission quicker by just not hitting some of the waypoints, definitely not desirable.
I have been looking at using some of the obstacle avoidance code instead, but still figuring out how the whole thing works.
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