Ardupilot is very very mature software. It stopped being able to be run on an arduino about a decade ago. There's a guy who has been doing aireal waypoint missi

Ardupilot is very very mature software. It stopped being able to be run on an arduino about a decade ago. There's a guy who has been doing aireal waypoint missions for miles and miles, as well as terrestrial boat missions lasting days. It's been adapted for sailboats as well.