4. Whats the purpose of this project?

Generally in Matrix Pilot Gentlenav code, programming is done as such that when we switch to the autopilot (loiter waypoint) mode 3 things happen:

1. One waypoint is loaded in the program.
2. The drone or U.A.V. tries to cross or achieve that point.
3. But due to the coding (and the waypoint radius) the U.A.V. sometimes crosses or hovers around the loaded single waypoint (forming a bee 8 sometimes on it). But it never perfectly loiters around that waypoint which might cause too much difficulties (both manually and logically) for our camera on the U.A.V. This might prevent the camera from focusing on the target waypoint all the time.
4. Also to create a program for the safety if our U.A.V. In this as soon as there is a specific amount of battery left, our U.A.V. will automatically return to the home-point so as to avoid crash-landing/being lost.

Me and Colleagues' Job: To design a code in C language (which we are using to program our PIC micro-controller) so that the U.A.V. perfectly circles the waypoint loaded by the user (and possibly no more information is required).