Wireless control of ardupilot

Hey guys!I am building the arducopter with RC control and also have to figure out how to get wireless communication working so I can send mission commands via laptop and then eventually android. I know I can put the Xbee shield on it but from what I have read you can only receive telemetry data as opposed to send commands (like go to a specified GPS coordinate). I haven't been able to find people who have documented how they have done this kinda thing. Can someone please help point me in the right direction so I can figure out a plan of action. I just need to collaborate and shoot some idea around but I need to have some kinda idea of what I am going to have to do first.Thanks a lot!McKinnley

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