code: def readmission(aFileName):
      
      print("\nReading mission from file: %s" % aFileName)
      cmds = vehicle.commands
      missionlist=[]
      with open(aFileName) as f:
          for i, line in enumerate(f):
              if i==0:
                  if not line.startswith('QGC WPL 110'):
                      raise Exception('File is not supported WP version')
              else:
                  linearray=line.split('\t')
                  ln_index=int(linearray[0])
                  ln_currentwp=int(linearray[1])
                  ln_frame=int(linearray[2])
                  ln_command=int(linearray[3])
                  ln_param1=float(linearray[4])
                  ln_param2=float(linearray[5])
                  ln_param3=float(linearray[6])
                  ln_param4=float(linearray[7])
                  ln_param5=float(linearray[8])
                  ln_param6=float(linearray[9])
                  ln_param7=float(linearray[10])
                  ln_autocontinue=int(linearray[11].strip())
                  cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
                  missionlist.append(cmd)
      return missionlist
docs: Load a mission from a file into a list. The mission definition is in the Waypoint file
      format (http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
  
      This function is used by upload_mission().