Also there needs to be a take off command. There is a land command and it works but as of the current build there is no way to take the UAv off from the ground.

Actually if you just click some where far enough away from the Greyhawk it takes off anyway. No need.

When you say custom loiter radius do you mean having an option to change the radius of a loiter waypoint?

Allowing custom cycles would be the most versatile solution.

Failing that, loiter waypoints seem to be designed to suit UAVs.

We can set loiter direction and radius using the (so far undocumented) setWaypointLoiterType and setWaypointLoiterRadius commands. As far as I can see, it's a feature borrowed from VBS:
http://resources.bisimulations.com/wiki/setWaypointLoiterType
http://resources.bisimulations.com/wiki/setWaypointLoiterRadius

Cycle waypoint should be available even for UAVs. Marking as fixed.

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