Hi Dian,
I'm still developing and testing. I have rewritten the stabilization
code to hopefully be less susceptible to oscillation, and I hope to
test that out when the rain stops. :)
I haven't yet worked on the ability to add multiple waypoints, but
that should be easy once everything else works well.
I'll continue posting test results as I progress. And feel free to
dig into the code and start to think about how you'd like to be able
to configure a list of waypoints.
Ben