Abstract: A method for controlling an Unmanned Aerial Vehicle (UAV) is described. The method includes receiving an enhanced flight plan, wherein the enhanced flight plan includes one or more predefined points and each of the predefined points is associated with a set of conditions and a set of locations; storing the one or more predefined points in the UAV; flying the UAV according to the enhanced flight plan; detecting, by the UAV, a condition associated with a predefined point in the one or more predefined points stored in the UAV; and adjusting, autonomously by the UAV and in response to detecting the condition, a flight of the UAV using a set of locations associated with the predefined point and associated with the detected condition.