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Well...
Imagine someone using a lance, damage type Piercing, to hit a flying creature barely in range of his weapon. It would be a swinging motion, not a piercing motion, so... it doesn't look right. The rules say directly to your opponet, so if it was drawn out...
c = character
d = dragon
? = most direct square to attack from?
x = empty space
M = The only place the C could melee attack the dragon from
D
? ? x
C x x x M
So... yeah, your not charging to the nearest square to attack, but a different one, so you shouldn't be able to charge, correct?

Claxon |

To charge you must move at least 10 ft directly towards the enemy. I would argue that there would have to be a very specific orientation of ground geometry to flyer's position in order to achieve a straight line that would allow you to charge (validly) into the square just below the flyer and attack him.
In short, it's possible but ground bound individuals probably aren't going to be able to pull it off.

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A charge must be to the closest square the charging character can reach. If the flyer is 10' up, and the non-flying cavalier is not already directly under him, drawing the line would require the cavalier to attack from a square in the air.
Looking at the situation from the side, and assuming the Cavalier and the Flyer are the same distance from the "camera":
.
(You may need to copy this out into a monospace font to see it properly. Each . represents a square.)
.
F
..A
.X....C
The closest square from which a lance attack could occur is A, which is 20' of movement away (ignoring for the moment the ability to fly). The square the Cavalier would like to attack from (X) is 25' away, therefore he may not charge at all, for the same reason he couldn't if F weren't flying and the map were horizontal.

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First of all, a personal thank you to Chris! Forum modulating probably isn't the most glorious thing to do...
Blindmage, your right, but charge rules indicates that it must be the most direct path to the target.
So I should assume that we ruled correctly? That you can't charge a flying creature because you can't move directly towards it.
As a side question, what can acrobatics accomplish? Can I "jump" up and attack at the height of my jump?