flying above street

If I wanted to film in a public area to make a video of the streets of phoenix would it be legal to fly with pedestrians nearby?

Hey guys, I have some questions about establishing a security perimeter for flying at a plaza. I can't get the right angle within the parking lot I cone off. I would like to take off in the parking lot of the plaza I want to shoot, then fly over a street to get to the other side for my...