I have completed a few ArduPilot test flights but have some questions about how the auto / waypoint mode works.

Lets assume I uploaded a program with 4 way points.

1) Once the program is complete the plane seems to loiter over home. So far I managed to restart the program over Xbee and it will head to waypoint #1 again. Is there anyway to restart the program using the remote control?

2) Plane reached waypoint #2 and starts to head for #3. If I switch to manual or stabilized mode and then back to auto, will it continue the program and head for #3 again? (I think that is what it does, but sometimes it's hard to track the PC, the plane, the remote...)

The reason why I need this is that my video feed and xbee do not like each other at all. Therefore I don't think I will be able to have xbee during my FPV flights. Right now I'm using 2.4GHz for the remote and ~900 for video and xbee. Anyone out there with a combination of all 3 that works really well?

Thanks, Andreas