Others have mentioned CCC but I haven't done that yet. I don't want to throw to many variables at the H at the same time. I've done many and the CCC is my last one to try with suggestions and advice given. Is your assumption that the CCC is more forgiving with the axis and straight flying?
thonetor,
you will probably find that CCC will not do what you are after. It is Curved Cable Cam, and this will plot a curved path between the two waypoints rather than a straight line.