@ne0fhyk The instructions I'm trying to send the vehicle aren't static. I have an on-board android device with a depth sensor attached to the front of the drone and I want to update the positions to move mid-flight (avoid obstacle, move forward, backward, turn). Basically moving around a room while avoiding obstacles. I have the depth sensor data working and the drone automatically arming and taking off but I can't get it to move anywhere. I noticed that whenever it takes-off it switches to Guided mode automatically (I'm building off the Dronekit-Android-starter-master). Would I need to use the Mission API or Spline Survey?