This feature allows a user to simply point, click, and drag to define the directional reconnaissance needed on an objective. It is especially useful to allow a user to keep the UAS’s payload focused on the side of a mountain or a building. The autonomous auto-router that is based on DO-178, generates a safe, reliable, and multi-waypoint mission plan that avoids terrain, as well as any known no-fly zones while ensuring that the unmanned vehicle stays within the radio frequency line of sight of the controller (i.e. prevents lost link).