To add Objectives to your map you need to be in the "F3" mission editor mode. Press F9 to open the mission properties window. From here you select "tasks".
Once you've done so the mission task window will open. Right click in this window and choose "add" from the menu that pops up. A prompt will open where you can type in the name of your objective, then click ok.
Tasks don't do much by themselves, they pretty much rely on triggers to work.
If you need help working on the triggers for your objectives, I'll be happy to give you some tips.
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