"Yes, check out Mike Isted's blog for a more detailed description on how to do this. The code is also explained there.
https://mikeisted.wordpress.com/
(Posts 1 to 5 of the MAAXX Europe challenge."

"Thank you Laser Developer. It looks like I will be contacting the ArduPilot team and some lidar vendors soon."

"@Laser Developer - Thank you for that insightful reply. I had a look at the range of products offered by LightWare, including the use of SF11 by Cala as a laser altimeter. I was planning to use an ultrasonic sensor for the altimeter, but I'm…"

"Michael Burmeister said:
It looks like it was flying good and while in loiter mode you selected RTL.  When you select this mode the copter started to gain altitude as the RTL height is set at 15.  The thing with a 250 size quad is that its small and…"

"Thank you very much for that intuitive reply, Mike. That helps clear things out a lot. I'll have a look at PID as well. Your blog's provided some useful insight to my project.
I'll be sure to make a blog post of my own about this project once I'm…"

"Interesting. I thought using guided commands would be the right way to do it, since channel overrides have been dis-commended in the DroneKit documentation. Maybe someone could elaborate the pros and cons between RC_Overrides and Guided commands."

"Thanks Chris, I'll have a look at both approaches.
Wow, thanks Mike! This is exactly what I'm trying to do, except using a machine learning approach. I'll have a good read through your blog. The dronekit code will save me a lot of time.
The MAAXX…"

"Have a look at this:http://diydrones.com/forum/topics/does-the-apm-2-6-require-a-compas..."

"Yes, thank you. I just read the channel overrides section in the DroneKit documentation (it's really well written). I was looking at writing a guided mission by defining the velocity vectors and yaw angle, but will look into this approach as well.…"

"Nicolas-Michael El Jamal said:
Hey Sergey, 

It's good to know that I am not the only one stuck with this problem.
I managed to successfully send commands to the pixhawk via Mavproxy. 
This is my sequence of commands after running mavproxy.py…"

"Wow that's neat. The OpenMV cam looks well suited for this project. Wish I'd heard of it earlier. I'll consider using it for one of my future projects.
I've designed simple arduino-based and atmel-based line follower bots before that use infrared…"