Waypoints

A click adds a waypoint

If the map tool is PLAN, click the map. A new marker appears at the end of the dashed plan, and the count on UPLOAD goes up by 1. The last item of the dashed plan is WAYPOINT. The new waypoint goes at the altitude between ALT- and ALT+.

Except when the plan has 650 items: see A full plan takes no more waypoints.

See it in Planning a hand-launched circuit, Fixing a misplaced waypoint, Clearing the ridge, Keeping a mission for the field, From plan to flight.

Given the map tool is PLAN
When the operator clicks the map
Then the plan goes up by 1
  And the last plan item is WAYPOINT
  And the newest waypoint is at the plan altitude

Right-click removes the last item

If the map tool is PLAN and the plan has at least 1 item, right-click the map. The last marker goes away from the dashed plan, and the count on UPLOAD goes down by 1.

See it in Fixing a misplaced waypoint.

Given the map tool is PLAN
  And the plan has at least 1 item
When the operator right-clicks the map
Then the plan goes down by 1

Right-click on an empty plan does nothing

If the map tool is PLAN and the plan has 0 items, right-click the map. The dashed plan and the count on UPLOAD do not change.

Given the map tool is PLAN
  And the plan has 0 items
When the operator right-clicks the map
Then the plan stays the same

CLEAR empties the plan

Press CLEAR. The UPLOAD button reads UPLOAD 0. The plan has no takeoff.

When the operator clears the plan
Then the plan has 0 items
  And the takeoff is not planned

A full plan takes no more waypoints

ArduPilot keeps approximately 650 mission items in its memory, so the plan stops at 650. With BRD_SD_MISSION and an SD card, ArduPilot keeps more.

If the map tool is PLAN and the plan has 650 items, click the map. The dashed plan and the count on UPLOAD do not change.

An exception to A click adds a waypoint.

Given the map tool is PLAN
  And the plan has 650 items
When the operator clicks the map
Then the plan stays the same