I am recently doing a project that is using vision SLAM to control drone indoor autonomous flight. Now I am able to sent vision_position_estimate data to Pixhawk by mavlink and the drone can fly POSITION mode by using vision position data. The next step is doing MISSION mode. I would like to use the QGC waypoints for flying it. I have tried OFFBOARD mode examples and that is working for my drone. But I think this is inconvenient because I have to write position data on code then execute it.
Could you please teach me how to use vision in MISSION mode?