How we can change the plan during an active mission


I would like to change the plan of my copter during an active mission. anyone has solution for this?

I change the plan and crate new plan during the active mission but the new plan is not working.

Change the vehicle flight mode to GUIDED mode, send mission plan, change the vehicle flight mode to the AUTO mode again. You don’t need a partial waypoint update, right?


Thank you
Is this method usable for UAV applications as well?

It is usable for all ArduPilot powered vehicles (Plane/Copter/Rover etc.).

Thanks a lot :blush::blush::blush::blush::blush::blush::blush::blush::blush: