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Can I skip waypoints previously set in the BMW Motorrad App while riding?

Yes, with the Multi-Controller, you can skip waypoints while riding. A prerequisite is that a navigation with at least two waypoints is active. Press the Menu button on the Mulit-Controller , select the "Navigation" tile on the TFT display and then "Active route guidance". Here you will find the option "Skip waypoint". The BMW Motorrad Connected app recalculates your route. 
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Note: Only the next waypoint can be skipped. Several waypoints must be skipped in the order in which they were stored in the BMW Motorrad Connected app. 

 
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BMW Motorrad | FAQ