diydrones/ardupilot — pull request #1567 by claymation (2014-11-03 19:16:01+00:00)
Title: Copter: ensure lat, lon, alt all zero is handled

Use current position when waypoint lat/lon are zero, and current altitude when waypoint alt is zero, for both spline and straight-line waypoints.

Adds test cases for these scenarios to the copter test missions.

Fixes #1145.