If Skydio uses anything like the Yuneec Typhoon H, it will be a spline curve that connects the points.
Think of it like a base runner in a ballgame. As the runner advances from one base to the next the path is curved to allow the runner to be smooth and not make abrupt changes in direction. This is desirable for smooth cinematic flight. This also applies to changes in elevation and should be taken into account when programming the waypoints.