Appending to an existing mission

is it possible to append items to a mission which is currently being flown?
Following situation: I do have a mission of 5 waypoints, I only want to upload 3 in advance so I can react dynamically. So if I reach the first waypoint I would like to upload the fourth one and so on.
So appending to an existing mission would be the best, if not just upload a new mission starting at this waypoint?

Did you consider to work with the Action.go_to_location function rather than to load a mission each time ?

You could then have a queue of 3 (or more) elements and send the new point has soon as the drone is at a given distance from the actual point