I am having a problem with the ardupilot not wanting to track the first waypoint.  After I program the ardupilot and restart, "yellow line" does not track to home or the first waypoint after home.  Initially it liked tracking to Africa (Lat, Long: 0,0) upon swithing to auto mode. After some troubleshooting it now chooses a random direction and tries to track to that. During ground testing, (With me driving my car and a friend holding the plane in the back). By messing around with it I have been able to get the ardu pilot to track the yellow line and react via ailerons and elevator. When it eventually finds the next way point, it will track through the whole path. The problem is that I cant get this to work consistently. I have yet to do sufficent flight tests because of the instability of the autopilot. Please Help.

Air frame and Setup:

- Sky Arrow

- Hobbyking 2.4GHz transmitter

- AMP  1

    - w/ telemetry kit

    - Xbee GPS

    - APM planner v. 1.1.43

Suspected  problems:

PID programming: I uploaded the SkyWalker062311.param file