Things yet untested

[sequoiap]

The following should be verified before this package can be considered "complete":

• Dubins paths
• Fillet search patterns
• The plane's minimum turn radius

Make sure the paths climb at the start of paths, not the end (i.e. reaching target altitude early is good). A possible conceptual implementation would be that anytime we generate from a point, there's an "inverted cone" placed around that point representing an altitude based on some max climb rate from that point. Any random node that is generated gets the corresponding altitude of its point on the cone, and then we check for overshoot when comparing to the destination point.

We should include a "connect to beginning" flag to also avoid objects when restarting the loop.

Loiter point functionality should be added.

One undesirable behavior we noticed: when the plane is far from it's target altitude, it tends to just give up and stall itself. It descends by cutting throttle without pitching down to adjust speed (we noticed at one point a speed of 7 m/s).