forget about xaircraft waypoint. I've been through this situation. My sugestion is :
You have to replace your XAircraft controler with YS-4 or Wokong M(more expensive), buy DJI ESC 30amp or 18 amp. ESC from Xaircraft wont work with other motor & FC.
You still can use Xaircraft fc1212P AHRS & FC for camera gimbal, use seperate battery to power it
Use X650 as starting point. Dont upgrade & expect it to become good medium lifter multi copter. X650 Frame is not rigid, you will find many problem. It can carry max. microfour third camera like EOS M, Lumix GF5, Sony NEX/CX series. Use it with light camera gimbal, like AG550-NX landing gear+2axis camera gimbal.
Buy another frame if you want to build medium/heavy lifter multi copter
Good luck