Hi
I want to connect my drone with a rover in mission planner at the same time.
Also, I want to do a multi missions using if conditions. for example, if the drone reach point A, then the rover at point A should start moving to point B. how can I do that ? and how the communication between the two can be done easily ?
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There is no out-of-the-box solution for that.
Needs some coding 
Can you give me an example? Where to code ?
Is it using dronekit or using lua scripts ?
I suggest you connect to both vehicles with dronekit on the same python script.
Then you can check both vehicles’ status, and command them both based on the conditions.
Take a look at the dronekit documentation.