Show waypoints dynamically created by the drone in the GCS


At the moment I’m controlling the trajectory of my drone using MAVLink and APM Planner. However, in the next step the drone will generate its waypoints dynamically depending on some measurements and I would like to monitor this process with the GCS.

According to the documentation (, MAVLink doesn’t seem to support such dynamic waypoint injections from the drone to the GCS.

Do you have any suggestions on how I could implement this?

Okay, I think the best way would be to add my own MAVLink dialect which provides such an INJECT_WAYPOINT message, and add a corresponding handler to the GCS.

@hdino I will be glad if you could make me understand the same.