# Go to Waypoint & Follow Terrain via pymavlink

**URL:** <https://discuss.bluerobotics.com/t/go-to-waypoint-follow-terrain-via-pymavlink/2599>\
**Category:** Blue Robotics Software\
**Tags:** ardusub, positioning, pymavlink\
**Created:** [May 5, 2018, 12:36pm UTC](https://discuss.bluerobotics.com/t/go-to-waypoint-follow-terrain-via-pymavlink/2599 "2018-05-05T12:36:40Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\
**Post date:** [May 5, 2018, 5:20pm UTC](https://discuss.bluerobotics.com/t/go-to-waypoint-follow-terrain-via-pymavlink/2599/2 "2018-05-05T17:20:52Z")

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The autonomous/gps enabled modes are not stable, but have been demonstrated. They are basically for developer use only right now, so there is not a lot of information and you will need to look at the source code to see exactly how it works. You should be able to use auto mode for the way points and the altitude frame specified as ‘altitude above terrain’ for the terrain following.

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