"@Jose, I agree with @robert and @hugues, I suggest you go back and review the website. Its not clear, it seems to have technical info but that wont get people wanting to use the item. You need to clearly articulate what the device does…"
"I suspect what's happening is that Arducopter is saying it's hitting the waypoint early as it goes up, thats why your getting a lift before and a drop before the actual waypoint. Some tweaking of the parameters should yield far…"