@chaviw I want to plot my actual gps-position vs the position of the drone. There is the position of the guided mode waypoint shown but not the exact pos of me and my device. I run the drone in follow-me-(lead)-mode and i cant reconstruct the original pos , only the position of the calculated waypoint which is always infront of me. I want to show the diffrence-distance between me and the drone.... sometimes i can run under my drone even its in lead mode... it would be nice if someone can show me a little bit of pseudo-code and were to put it. Thanks for the answeres so far.