I am flying my quadcopter with latest VRBrain 5.2.
I have 3DR telemetry and a Nexus7 tablet, I experiment with Auto Mode.
There is my latest flight rendered in GoogleEarth. It is a full auto flight from Arm to Disarm, controlled and monitored with DroidPlanner v3 tablet application.
There are 14 waypoints with spline curbs at various height from 10 to 45 meters. First WP is TakeOff, latest is RTL. R/C is on (Stabilize selected), Throttle lever is set to middle position after TakeOff as a caution.