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1. Land the aircraft.

2. Disarm and WAIT for the menu to come up on the right. This should happen about the same time that the disarm occurs.

3. Choose "Resume Mission".

4. Power off the drone.

5. Close and reopen QGC.

6. Swap the batteries.

7. Arm the drone.

8. Launch in Loiter Mode.

9. Use the on-screen Slider to resume the mission.

10. The mission will start right from the last waypoint you ended on.