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Try http://www.bridlewaymap.com as a starter. I think the same people do a footpath version but I'm on my phone and the site is very much set up for desktop access.
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Bikehike uses Google maps for the route planning, but does have an additional mapping window that can display OS data. It takes a bit of getting used to, but you can use the OS window to guesstimate your route on the mapping window.
Does anyone know of an online GPS route planning tool that allows you to map routes using an Ordinance Survey map as your base layer?
Most route planning systems use google maps which is rubbish for off road footpaths. Bing maps do allow you to view an OS map of the area, however the only mapping site that I've so far discovered that uses Bing is Garmin Connect and they don't give you access to the OS map (just 'normal' and satellite).
Open Street Map based systems have very patchy coverage of footpaths and bridleways and therefore don't work for me either.
Tried:
Strava
Bike route toaster
Ride with GPS
G map Pedometer
Garmin connect
(can't remember my MapMyRide/Run password...)