Yeah I thought it might be to ensure not getting stuck and what not, however it does not look very pro and I think it would be possible to make it work without doing it? Don't you? I mean how about letting it skip a few waypoints and ascend to the set hight of the profile, lets say divided by two waypoints? Sometimes it would get stuck but I think it would work most of the times.
It's like that with Pirox and it's working very good, I know it's a completely different bot but I'm just saying that it might be worth looking in to? It's the only thing that is looking a bit unnatural atm I think. Apart from that it's just pure win!