This time with control loops on all axis, auto throttle to help with climb and ascend, and even interaction between roll and yaw.
And here we can observe our happy little autopilot flying it's first virtual mission (where W1 is set at 300 meters (with a forced left turn) and W2 & W3 are set at 400 meters (with the turn over the closest distance)):
The control loops are still uncalibrated, with P.I.D. values based on trial and error so far, which results in unwanted oscillation between maneuvers. But that's an optimization problem for later.
And while we're at it, let's design some sort of description structure for mission planning that can be uploaded to the autopilot. Awesome design documents for the win :P