# Create a mission programmatically - MISSION\_ITEM: Invalid item **URL:** \ **Category:** MAVLink\ **Created:** [February 18, 2025, 5:12am UTC](https://discuss.px4.io/t/create-a-mission-programmatically-mission-item-invalid-item/43809 "2025-02-18T05:12:31Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![Aydin](https://discuss.px4.io/letter_avatar_proxy/v4/letter/a/ed8c4c/32.png) [@Aydin](https://discuss.px4.io/u/Aydin)\ **Post date:** [February 18, 2025, 5:12am UTC](https://discuss.px4.io/t/create-a-mission-programmatically-mission-item-invalid-item/43809/1 "2025-02-18T05:12:31Z")
Hello, I succeeded creating a mission programmatically and injected few waypoints successfully. However, when I try to add MAV\_CMD\_CONDITION\_CHANGE\_ALT it says Invalid Item, even though I have set up the params based on the current mavlink code: MAV\_CMD\_CONDITION\_CHANGE\_ALT = 113 enums[“MAV\_CMD”][113] = EnumEntry(“MAV\_CMD\_CONDITION\_CHANGE\_ALT”, “”“Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.”“”) enums[“MAV\_CMD”][113].param[1] = “”“Descent / Ascend rate.”“” enums[“MAV\_CMD”][113].param[2] = “”“Empty”“” enums[“MAV\_CMD”][113].param[3] = “”“Empty”“” enums[“MAV\_CMD”][113].param[4] = “”“Empty”“” enums[“MAV\_CMD”][113].param[5] = “”“Empty”“” enums[“MAV\_CMD”][113].param[6] = “”“Empty”“” enums[“MAV\_CMD”][113].param[7] = “”“Target Altitude”“” I use mission\_item\_int\_send Any help would be appreciated. Thanks ---
**Author:** ![Aydin](https://discuss.px4.io/letter_avatar_proxy/v4/letter/a/ed8c4c/32.png) [@Aydin](https://discuss.px4.io/u/Aydin)\ **Post date:** [February 18, 2025, 6:41am UTC](https://discuss.px4.io/t/create-a-mission-programmatically-mission-item-invalid-item/43809/2 "2025-02-18T06:41:59Z")
Looking in the source code of px4, mavlink\_mission.cpp, it is not included for processing, thus this kind of waypoint is invalid :-/