Waypoint tracking is one of the most sought-out features in an autopilot. Essentially it allows the end-user to program (generally via a map or an aerial picture) a path (composed of waypoints) that the UAV is commanded to track. When we started working on SLUGS it was clear that this would be the first high-level feature we would add.
Today I am happy to report that it is fully working in software simulation and hardware-in-the-loop (HIL). You can read a bit more about it here
and watch a couple of movies showing results from a Simulink software simulation and a full Hardware-in-the-Loop test.