I was planning to add some features to arducopter (in a fork) :
1- automatically calculate the battery capacity required in order to RTL and alert you in case you reach that limit. based of course on some historical current consumption, distance to home, wind estimation...etc.
2- when the fail-safe action is to Land we need it to land safely to the closest predefined list of landing points (like airports) where it is easier for you to pick it up after an unexpected failure.
3- another mode along with simple and super-simple called "natural" in which when you use the roll stick it changes the yaw to match the heading. this allows a natural navigation in racing.
what's your opinion ?