Just reach underneath it, pull the left stick down and let it land in your hand. It will try to avoid you, If you have the collision avoidance sensors enabled, just keep pulling the left stick down and it will land in your hand, eventually.
I turn off downward OA. Makes it so easy. Just hover at a safe height, reach and hold it gently and then pull down on left stick. It doesn't fight with the downward OA off. Only downside is remembering to reenable before next flight.
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