I'm surprised it's taken me this long to realise, but that little bit that gets missed when shooting automated panoramas and manually stitching can actually be filled.
The automated panorama mode shoots 35 frames in landscape mode, which includes 2 where the gimbal is pointed up to 60deg above the horizon. This doesn't quite capture what is directly above the drone, leaving a small gap that needs to be filled somehow. However, by shooting 1 or 2 portrait orientation shots at 60deg upwards the gap can now be filled, as the camera can now actually see vertically upwards above the drone.
The automated panorama mode shoots 35 frames in landscape mode, which includes 2 where the gimbal is pointed up to 60deg above the horizon. This doesn't quite capture what is directly above the drone, leaving a small gap that needs to be filled somehow. However, by shooting 1 or 2 portrait orientation shots at 60deg upwards the gap can now be filled, as the camera can now actually see vertically upwards above the drone.