I'm probably wanting it to do something it won't, but this is what I need: I want to be able to set a waypoint mission with the MP going straight up to a predetermined safe altitude, fly a straight heading to a single waypoint, then immediately return to the starting point, and descend, all autonomously, without any pilot input other than the start and end segment? Total flight path would be about 10,000 ft., round trip, with an elevation gain of 300 ft. after launch.