How to add the waypoint in the planning?

[GChasing]

It is exciting to see your excellent work. From the source code, I want to know how to add the waypoint and the attitude for the quadrotor in the waypoint except for the starting point and end point, which makes the quadrotor flying through the given waypoint at the desired atttiude and yaw angle.

Looking for your reply and thanks a lot.

[ZhepeiWang]

@PanNeng-ZJU Please contact him for the waypoint version.