So after a period of absence of over a month (feel depressed everytime I say it), I got back into the groove of things. Decided not to wait to get back on the field to test the pitch and roll autopilot and decided to start working on the waypoint tracking algorithm . The advantage of having your own home with a garden is that you no longer struggle to get a GPS lock (There's no more concrete flats surrounding us yeah!!!). So got familiar with my gear again. Also decided to buy a piezo buzzer that could be used as a replacement of the serial monitor. The aim was to increase the intensity of sound as you got closer to the next waypoint. In such a way you will know if you're going the correct way. Decided to use GPS Visualizer to get waypoints on the property. Re-formatted the points into the code uploaded it onto the controller. It must add that I managed to successfully run arduino from the linux command line and use the program screen as a serial monitor. Not only is it m...