Just a small bug fix: the previous 2.1 code set the altitude for all waypoints at 75 meters and ignored the altitudes set in the configuration utility (this was a safety measure we were using at the Sparkfun contest and we forgot to switch it back). Jordi has just uploaded ArduPilot 2.1.1
which reads the altitude settings for each waypoint correctly.
Thanks to Bryan Cuervo
for catching the bug!