I'm not so interested in building the multirotor copter to fly it manually with an RC controller.  My interest is in programming it.  Ideally using an XBee, or other non-RF communications, I'd like to send commands to:  - rise to 6' and maintain hovering at current gps position  - move 3 feet 50 degrees and such.  In your experience how far can you go programming with the ArduCopter software?  Is…