I am wondering if you can hover a QuadX with APM2.0 in Stabilize mode, without GPS 3D fix and without magnetic declination? No sonar, just baro. Let's consider a hovering inside a building with metal walls and ceiling when GPS signal is not possible.

If no, could you please explain?

It is the same consider for both Arducopter 2.8.1 and 2.9.1?

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