I have two question related to MAVLink commands. First, I'm trying to send a MAVLink command to my MAV which will make the plane fly to the desired waypoint and then continue on its mission. For example, If the MAV's mission was A-B-C-D-HOME and the MAV has already reached waypoint A in autopilot mode. I am wondering if there is a MAVLink command so that I can insert a waypoint into the middle of a mission. Therefore, the mission would end up something like A-X-B-C-D-HOME. Obviously the X MAVLink would either have to send lat,long and alt of a waypoint struct. Is there a predefined MAVLink command to do this?
Secondly, I was wondering if there was a way to send my MAV and guided waypoint. For example, if my MAV was in autopilot mode flying the same mission A-B-C-D-HOME and I sent my MAV a MAVLink command to go the X waypoint in guided mode. Is there a MAVLink command to do this?
I know that this page shows all of the predefined APM MAVLink commands, but there isn't very much description on what they do. It seems that one of the NAV commands might be designed for what i'm trying to do but i'm not sure. Any help would be very appreciated.