I want to fine-tune autonomous flights in Mission Planner for my drone fleet so we can run repeatable surveying and mapping jobs over dense urban areas. The aim is to generate clean flight lines, hold a steady ground-sampling distance around buildings, and embed failsafe logic that keeps the aircraft clear of obstacles and restricted altitudes. Here’s what I need from you: • A reusable Mission Planner template (waypoints + parameters) tuned for photogrammetry in cities—front and side overlap, adaptive altitude, safe take-off and RTL all dialled in. • A short, clear PDF that explains every setting, lays out a pre-flight checklist, and shows the basic post-processing flow for turning imagery into accurate maps or 3-D models. • A quick screen-record or live walk-through so I can see the workflow and tweak it for new job sites. Deliverables will be reviewed in SITL; the plan must load in the latest Mission Planner without warnings and finish the simulated mission with at least 80 % image overlap. If you like scripting the planner in Python, great—otherwise a solid manual setup is fine. Right now the focus is strictly on drones for urban surveying and mapping, but an approach that could later scale to mixed environments is ideal. Let’s get this template locked down so I can start flying.