Here is a 4 WP mission test with the latest firmware and GCS.
All went quite well but with some small problems
Things I noticed is that the altitude isen't relative when I set default alt relative 10m. The GCS shows 4,5m when the quad is on the ground. But in the air it shows +/- 12m.
Sometimes at waypoint the quad doens't quite know were to point its nose. It sometimes the quad yaws in the opposite direction of the next WP even if I set yaw to -1°. Its even turning arround (at the end in the correct direction) when in transit to the next WP. Sometimes it works correctly.
And then when auto land is engaged it start turning arround in all directions. (see video) I tried different setting like 270°( heading west), -1° and 0°but the quad keeps turning.
Here is my mission plan and video.
[youtube]djMnhmmLOW0&[/youtube]