Another suggested improvement:

I notice from the maps that while on tasks the route seems to direct me to the waypoint itself, rather than the edge of the cylinder around that waypoint.

Ideally the route function would calculate the shortest route by linking the closest points on the edge of the cylinder rather than the centre point.

The flymaster does this and I think the flytec 6020 too.

Andy

P.S. Wish I had the skills to help the community develop this. But a big thanks for turning your attention to it.