I would think it is recommended but is it mandatory?
Tried loiter today with 2.0.28 starts to make circles that get bigger and bigger and then it does a funky 180-360 degree spin that scares me! but nothing stable mode cant handle=)
Iv never really had luck with loiter mode yet, but only been trying for about 2weeks. So im thinking maybe its because I dont have a mag?
Will be getting one soon though =)