Yeah i'm sure that my drone supports it. I've used it through mission planner and even flown using it the wp multiple times. Here are is my LoiterToAlt implementation LoiterToAlt
and here is my LoiterToAltImpl implementation LoiterToAltImpl
Something else I should probably add is that it also prevents me from writing the entire mission. Maybe I'm passing parameters incorrectly. Thanks for looking at this.