[louyueqing]

My main goal with this project is something that is really easy and effective for doing POI tracking, follow me, as well as still just flying really well and being great for navigation.

Replaced content with link to original blog: http://buildandcrash.blogspot.fr/2014/08/

[Mateusz]

I am not sure this belongs here. Although TauLabs is a fork of OpenPilot as are other projects, its a bit different. So what you describe might not be relevant to LibrePilot users. Maybe post it on TL forum (if that project is still alive).

[f5soh]

My main goal with this project is something that is really easy and effective for doing POI tracking, follow me, as well as still just flying really well and being great for navigation.

Well i don't know what you present here and what did you expect posting Taulabs related dev's experimentation here.
This content is simply copy/pasted from Peabody blog, for reference : http://buildandcrash.blogspot.fr/2014/08/

Please elaborate.