... to "hack" the stock DJI firmware to get around the limitations imposed by DJI? It's a shame they make somethings difficult (or worse, impossible) to do. For one thing, changing the flight speed on individual legs of a waypoint mission. Also, to not "bobble" when passing a waypoint that I've defined only for the purpose of changing altitude (no directional change at all). For example, I'd like to define a mission that is a simple straight line around 150 yards long. Starting at point one, camera focused on a POI (just a few feet off the line of flight) and travel at 35 MPH along that straight line; all the while staying focused on the POI. Then just as it passes the POI initiate a steep climb at the same speed still focused on the POI. Is this something that is do-able?? I've tried by setting an extra waypoint right at the POI to initiate the altitude change. But then you get the "bobble" I mentioned above, even though direction of flight does not change at all. To clarify, my intent is to do a low altitude, high speed fly-by focused on myself, then finish with a 75 foot climb out while still focused on me. FWIW, I'm using Litchi. Help?? Boowho??