Learn English – “While” and “When” phrases in the future tense

SHORT ANSWER:
Only your first sentence is idiomatic English.

LONG ANSWER:
First, will is employed in when clauses only if when is employed as a relative adverb, not if when is employed as a subordinating conjunction:

 You will arrive in Milan at 4 pm, when you will be met by our representative.
^✲When you will arrive in Milan you will be met by our representative.

Second, the ‘sequence of tenses’ rules for sentences with [when] ... [then] and [if] ...[then] constructions are very similar, so I’ll treat them together.

NOTES: I bracket [when], [if] and [then] because these words may only be implied and not actually appear in a sentence. Also, I have changed the words in your example to permit what I hope is a more transparent explanation.

The rules vary depending on whether the sentence expresses habitual practice or, as in your example, a single contingency.

1. If the sentence expresses a repeated or habitual practice, both clauses will have the same tense: either simple present or simple past. In these cases, [when] or [if] bears the sense whenever.

   [Our practice is: ] Whenever we see this, we do that.
   [Our practice was:] We did that whenever we saw this.

2. When the sentence deals with a single occasion, English employs a sequential structure, in which the [then] clause is depicted as ‘following’ the [when] or [if] clause. In practice this means that

   • In sentences with present reference, a simple present or present perfect in the [when/if] clause is paired with a will + unmarked infinitive construction in the [then] clause.

     NOTE: 1) The order of the clauses in the sentence is irrelevant, and 2) I speak of a ‘construction with will’ rather than of a ‘future tense’ because the will signifies consequence quite as much as it does futurity.

     [We have decided:] If we see this, we will do that.
     [We have decided:] We will do that when we have seen this.

   • Sentences with past reference are ‘backshifted’: a simple past or past perfect in the [when/if] clause is paired with a would + unmarked infinitive construction in the [then] clause.

     [We decided yesterday:] If we saw this, we would do that.
     [We decided yesterday:] We would do that when we had seen this.

Your sentence implies that your arrival at the airport is certain. However, "would be waiting" is conditional so it would require the first clause to be conditional too, for example an "if" statement:

If I were to arrive at the airport tomorrow, my whole family would be waiting for me.

If your arrival is certain, but it is your family's presence that is uncertain you would use "may" or "might" instead (these words are used pretty much interchangeably in modern English):

When I arrive at the airport tomorrow, my whole family might be waiting for me.