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The Plan tab is a full mission planner built on a Leaflet map. Create waypoint missions, add commands, configure terrain following, and validate everything before uploading to your flight controller.
Mission planner showing waypoints on a map with terrain chart

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Creating a Mission

1

Open the Plan tab

Click “Plan” in the top navigation bar. The map fills the screen with a toolbar on the left and a mission editor on the right.
2

Add waypoints

Click on the map to place waypoints. Each click adds a numbered waypoint at that location. Waypoints are connected by lines showing the flight path.
3

Edit waypoint properties

Click a waypoint marker to select it. The right panel shows its properties: latitude, longitude, altitude, speed, delay, and command type.
4

Set altitude mode

Choose between relative (above home), absolute (above sea level), or terrain-following altitude for each waypoint.
5

Validate the mission

Click the validate button. The validation engine checks for common issues before upload.
6

Upload to FC

Send the mission to the flight controller. The upload progress is shown in real time.

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Map Toolbar

The left-side toolbar provides drawing and editing tools:
ToolFunction
WaypointClick to place individual waypoints
PolygonDraw a boundary for pattern generators
CircleDraw a circular area for orbit or geofence
MeasureMeasure distance and bearing between points
SelectClick to select and move existing waypoints
Right-click the map to open a context menu with additional options: insert waypoint here, set home position, center map, and more.

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Mission Editor

The right panel shows the mission as an ordered list of waypoints and commands:
  • Reorder waypoints by dragging
  • Delete individual waypoints
  • Edit properties inline (altitude, speed, delay, command type)
  • Add commands between waypoints (DO_SET_SERVO, DO_CHANGE_SPEED, DO_SET_CAM_TRIGG_DIST, etc.)

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Supported Commands

Mission Control supports the standard MAVLink mission item commands:
CommandDescription
NAV_WAYPOINTFly to a waypoint
NAV_LOITER_UNLIMLoiter at a position indefinitely
NAV_LOITER_TURNSLoiter for a set number of turns
NAV_LOITER_TIMELoiter for a set duration
NAV_RETURN_TO_LAUNCHReturn to home
NAV_LANDLand at a position
NAV_TAKEOFFTakeoff to altitude
NAV_SPLINE_WAYPOINTSmooth spline path through waypoint
DO_SET_SPEEDChange flight speed
DO_CHANGE_SPEEDChange speed mid-mission
DO_SET_CAM_TRIGG_DISTCamera trigger by distance
DO_SET_SERVOSet a servo output
DO_JUMPJump to a waypoint (looping)
DO_SET_ROIPoint camera at a region of interest
DO_VTOL_TRANSITIONSwitch between VTOL and fixed-wing

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Terrain Following

Enable terrain following to maintain a consistent altitude above ground level (AGL), even over hilly terrain. How it works:
  1. The planner fetches elevation data from the Open Elevation API for each waypoint.
  2. Waypoint altitudes are adjusted so the drone maintains your specified AGL at every point.
  3. The terrain profile chart at the bottom shows ground elevation vs. flight altitude.
Terrain data is cached with an LRU cache keyed by rounded coordinates (4 decimal places). When you plan surveys in the same area, subsequent requests use the cache.
The Terrain Profile Chart shows:
  • Ground elevation line
  • Flight path altitude line
  • AGL clearance at each waypoint
  • Warnings where clearance is below a threshold

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Batch Editor

The batch editor lets you modify multiple waypoints at once:
  • Set altitude for all selected waypoints
  • Set speed for all selected waypoints
  • Adjust altitude by a relative offset (e.g., raise all by 10m)
  • Apply terrain following to a selection
Select multiple waypoints by holding Shift and clicking, or by drawing a selection rectangle. Then open the batch editor to apply changes.

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Mission Transforms

Move, rotate, or scale an entire mission without editing individual waypoints:
  • Move: Drag the mission to a new location. All waypoints shift by the same offset.
  • Rotate: Spin the mission around its center point. Enter a rotation angle in degrees.
  • Scale: Grow or shrink the mission. Enter a scale factor.
These are pure geometry operations that preserve the relative positions and altitudes of all waypoints.

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Mission Stats Bar

The bottom bar shows live statistics about your mission:
  • Total distance
  • Estimated flight time (based on configured speed)
  • Number of waypoints
  • Altitude range (min and max)
  • Estimated battery usage

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Validation

Before uploading, the validation engine checks your mission for issues:
  • No waypoints in mission
  • Waypoints outside geofence (if one is set)
  • Altitude below minimum safe altitude
  • Missing takeoff command at the start
  • Invalid command parameters
  • Very high altitude waypoints
  • Long distances between waypoints
  • Speed changes that may exceed airframe limits
  • Mission exceeds estimated battery capacity
  • No RTL or Land command at the end

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Download and Upload

ActionDescription
Upload to FCSend the mission to the connected flight controller via MAVLink MISSION protocol
Download from FCRead the current mission stored on the flight controller
Save to fileExport to .waypoints, .plan, KML, KMZ, or CSV format
Load from fileImport a mission from any supported file format
Save to libraryStore the mission in the plan library for later reuse
See File Formats for details on each format.

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Keyboard Shortcuts

ShortcutAction
Delete / BackspaceRemove selected waypoint
Ctrl+ZUndo last action
Ctrl+Shift+ZRedo
Ctrl+ASelect all waypoints
EscapeDeselect all