A feature that I personally would like to see in the UAV terminal would be an
Advanced Waypoint mode. What I mean by this is that it would be nice to be able
to set more specific waypoint constraints. I envision it being a menu when you
alt-right click on the waypoint. It would contain the following options:

Waypoint type- The current options are fine

Beneath this for loiter you should be able to set a user defined range

Behavior- Again the current options are fine

Altitude- I envision having a max and min constraint both user defined. For
instance set altitude to 1000m ASL with a min altitude of 500m AGL. How the
program would interpret this would be maintain 1000m above sea level unless the
height above ground level was less than 500m at which point the UAV would adjust
altitude to maintain 500m above ground level. If height is greater than 500m
AGL the it will maintain 1000m ASL. Hopefully I explained that well enough.

Speed- Option to set speed to be from slow(just enough to maintain altitude and
heading) to High (as fast as possible) This could be either a slider or text
options.

Finally, it would be awesome if the default behavior would be never fire as
opposed to open fire. Often times the UAV will engage a target prior to me being
able to change the behavior and subsequently get shot down. In addition, I have
found that with a loiter waypoint if the UAV has not reached the set height
prior to getting to the loiter distance it will proceed through the waypoint
prior to beginning the circle. Depending on how high the UAV has reached, it
will often get shot down.