Setting Up Waypoints in INAV:

When the drone is powered on with a functioning GPS, it will be displayed on the map. For demonstration purposes, we'll use the "home point" as a substitute for the drone's actual position

1. Ensure that the distance between the HOME point and Waypoint 1 doesn't exceed the safety distance shown in the attached image. Next, scroll through the progress bar to ensure all waypoints are set at a safe altitude.

2. Confirm whether the hover radius for each waypoint is adequate. Please note, the speed setting is left unset for multi-rotor use.

3. Click "save EEPROM" and verify if there's a "LOAD" prompt appearing in the top-left corner.

4. Following the labeled sequence, first export the waypoints from EEPROM. After ensuring the waypoints are correct, import them into the flight controller. Wait for an "END save" prompt to appear in the top-left corner.

5. At this point, your OSD (On-Screen Display) will show a "mission load" prompt. 

6. Perform a regular launch. Once the drone stabilizes, you can switch to the waypoint mode near Waypoint 1.

Note: If the waypoint altitude is unsafe, or if the distance between the launch point and Waypoint 1 exceeds the set safety distance, the drone will not enter waypoint mode. Instead, it will directly switch to RTH (Return to Home) hover mode.