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No , I knew they were there as I walked the route before I set off . I was standing hidden from view but looking directly at that wire to the Castle . The drop into the castle was the risky shot as I had no way of knowing if there was anything to foul the props like some thin ivy protuding from the wall. Also , it broke my golden rule when flying a risky maneuver , I'll risk it as long as I can retrieve the drone should the worst happen . If it went down in the Castle there was no way in .
Did it change mode to atti down into the tower ?
I imagine it would have, the 10' thick walls would probably block signal pretty well.
And you obviously flew up out of there same way you went in, so that would have been dodgy for sure, more risky with still only the dead vertical view to use.