# Customizing a plan file with variables

**URL:** <https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219>\
**Category:** Using QGroundControl\
**Created:** [March 29, 2018, 11:59am UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219 "2018-03-29T11:59:46Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![roach](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/ee7513/32.png) [@roach](https://discuss.px4.io/u/roach)\
**Post date:** [March 29, 2018, 11:59am UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219/1 "2018-03-29T11:59:46Z")

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Is it possible to add user defined variables to a plan file? I would like to add some waypoints that are defined relative to home instead of specific coordinates. For reference I am using QGroundControl and uploading missions to a quadcopter controlled by a Pixhawk 2.4.6.

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**Author:** ![DonLakeFlyer](https://discuss.px4.io/user_avatar/discuss.px4.io/donlakeflyer/32/3036_2.png) [@DonLakeFlyer](https://discuss.px4.io/u/DonLakeFlyer)\
**Post date:** [March 30, 2018, 6:47pm UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219/2 "2018-03-30T18:47:48Z")

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Sorry, that’s not possible

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**Author:** ![roach](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/ee7513/32.png) [@roach](https://discuss.px4.io/u/roach)\
**Post date:** [April 2, 2018, 11:20am UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219/3 "2018-04-02T11:20:23Z")

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Is it possible to define waypoints relative to home or to generate a custom plan file each time the quadcopter is armed using MAVLink?

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**Author:** ![DonLakeFlyer](https://discuss.px4.io/user_avatar/discuss.px4.io/donlakeflyer/32/3036_2.png) [@DonLakeFlyer](https://discuss.px4.io/u/DonLakeFlyer)\
**Post date:** [April 2, 2018, 4:33pm UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219/4 "2018-04-02T16:33:39Z")

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> [@roach](#):
>
> Is it possible to define waypoints relative to home

Still not possible

> [@roach](#):
>
> generate a custom plan file each time the quadcopter is armed using MAVLink?

No

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**Author:** ![jonopops](https://discuss.px4.io/letter_avatar_proxy/v4/letter/j/6de8d8/32.png) [@jonopops](https://discuss.px4.io/u/jonopops)\
**Post date:** [June 8, 2019, 6:50am UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219/5 "2019-06-08T06:50:42Z")

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hi I am trying to soften the transitions between weigh points. i have a freefly Alta 8 pro and after expanding the weighpoint radius and trying to do various tweaks my AC still behaves very aggressively when reaching a weighpoint. would decreasing the max bank angle to 25% assist with this?

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**Author:** ![Patrick\_Hayes1](https://discuss.px4.io/user_avatar/discuss.px4.io/patrick_hayes1/32/5402_2.png) [@Patrick\_Hayes1](https://discuss.px4.io/u/Patrick_Hayes1)\
**Post date:** [January 10, 2020, 1:26am UTC](https://discuss.px4.io/t/customizing-a-plan-file-with-variables/6219/6 "2020-01-10T01:26:05Z")

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I am trying to solve the same issue. Any luck with adjusting the max bank angle?