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This is process I go through using Telemetry ONLY....

While in flight .... flying a mission:

1) GOTO: MP/ Flight Data/ Do Action (Loiter)

2) GOTO: MP/ Flight Plan/ Load WP File/ Write WPs/ Read WPs ( double checking that it got written)

 sometimes I'll already have a mission loaded ready to write

3) GOTO: MP/ Flight Data/ Restart Mission/ Auto

Any other option will be appreciated

Thanks, Brian