The best way I have found to persistently add a path to your $PATH is
set-U fish_user_paths $fish_user_paths ~/path/name
This prepends to $PATH. And since it's persistent, the path stays in $PATH on shell restarts.
It's more efficient than putting a command in your config.fish to modify your $PATH, because it only runs once compared to running on every shell restart.
The variable fish_user_paths is intended to be set by the user1, as stated by ridiculousfish, the maintainer of fish.
Option 2:
Add the line below to the file ~/.config/fish/config.fish:
set PATH $HOME/MAVProxy $PATH
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