For every POI you need a new WP added before you pass it. The new WP tells it to look at the closest POI - the Phantom won't fly around searching for POIs. Once it focuses on something that's all it does until you tell it to go do something else. I place POIs on a map first, then a WP before AND after each to ensure the command to focus nearest has at least 2 chances of being recognized. It's not a perfect app so giving it an option in case it misses a WP helps.
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