Changing Waypoint during flight

Hello! I would like to know if we could change the waypoint during the flight for eg.: I had predefined the waypoints that my drone would fly, what I want to achieve is that consider it flies from waypoint 0 to 1, when it reaches a particular radius or distance around the waypoint 1 it should automatically change to waypoint 2 and does the same when it reaches waypoint 2 and changes to waypoint 3. Thanks :slight_smile:

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This is the default behavior if you upload multiple waypoints. Unless Iโ€™m misunderstanding your question. Have you tried playing around with missions in SITL to get familiar with it?

Sorry for getting back late.

I did play around a little with SITL, the problem is that when I simulate without giving any delay parameter the drone stops at each waypoint and proceeds to the next after sometime. I tried giving an acceptance radius but it still doesnโ€™t seem to work.