Update waypoint plan by mavlink

is there anyway I can update whole waypoint plan by mavlink.
I want to use mavlink sdk to send new plan of waypoints to replace exiting in a running vehicle systems.

Why don’t you use custom GCS to do it? Like Mission Planner or QGroundControl?

Look here Messages (common) · MAVLink Developer Guide

MISSION_ITEM_INT is the message to send with a single waypoint.

Look here Mission Protocol · MAVLink Developer Guide for a flowchart about uploading a mission.

Also the Pymavlink class is helpful if you’re programming in Python.GitHub - ArduPilot/pymavlink: python MAVLink interface and utilities

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