We've done a test over the weekend and had great fun. Stunning software, love it to bits!

However I think I found a couple of issues that users should be made aware of:

Ascending: If you set a waypoint altitude too high in that there is not enough time to reach the requested altitude before reaching the next WP, the APM moves on to the next waypoint regardless. Isn't this dangerous especially in hilly areas where altitudes are critical on waypoints?

Descending: Unlike ascending, the Skywalker took about 15 minutes to reduce altitude from 500m down to 150m at the waypoint. It slowly spiraled down around the waypoint as if in loiter.

Descending: When reaching the last waypoint at a higher altitude as the default home altitude, the APM will immediately go into a frightening dive to reach the default altitude and then continue on to home. Check: http://www.youtube.com/watch?v=-1Dqpkrsuw8 @ 2:10.

Can anybody with some experience comment? Especially the long descending rate. I'm worried I'd run out of batteries! The software version was 2.25.