Now, according to the data flow in the previous log, the complexity of the control system has been reduced and the Mega MCU is now in charge of all the navigation and works autonomously, just sending all the data to the TC275 for actuating motors and displaying / broadcasting the data and waypoint state. The PCB has been modified so that the FONA GPRS module is closer to the Mega for good serial comms:

Behind the scenes, SlashDev has been consolidating the code so that it works much more smoothly and data travels seamlessly between the modules. Check it out on GitHub!