Update APM planner waypoint list automatically based on events

I’m using Arduplane to fly my UAV through a series of waypoints.
For my needs, I would need to modify the mission (waypoint list) dynamically, based on some external events.

I was able to manage this inside the ardupilot firmware.

Now, I would like to update also the mission on the apm planner. Basically, I’d like to send the updated list of waypoints back to the apm planner and refresh the screen.

Do you have any suggestion on how to do this?

Thank you.

Hi - did you ever figure this out ? I’m trying to accomplish a similar thing for Copter.

Hey if you achieved this inside the ardupilot firmware, please guide me regarding the same, as that is what i would like to do. I need some help.