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So son takes precedence over brother then...and stannis and renleys claim was based on the belief that Robert's kids were not really his?
Yes. Though Renly had no legitimate claim over Stannis, he was just an attention seeking fruit fly.
Yeah pretty much the whole
claim to the throne rules are more like guidelines. If you have an army and support, you can pretty much go for it. Renly had absolutely no right to be King, but he had the best shot because people supported him. If you go back far enough, the Targaryens didn't have any claim whatsover. They just took it because they could.