With the advancement of firmware, (2.9.1), is it OK if I don't launch / arm from a horizontal attitude?
I use a DJI F450 frame, so the APM2 sits on the top plate, and my 4S 4000mAh lipo pack has to be strapped to the bottom, resulting in the quad actually resting on the lipo pack rather than the 4 legs. And I might be adding a GoPro on the bottom which will make things worse. And I often fly from a lumpy grass field.
I would prefer not to have to make the legs taller, if I don't have to.
So question is, is it OK to arm and launch from a tilted position? Say less than 30 degrees.
Oh, and an unrelated question, about RTL in 2.9.1.
Suppose I go the field without a laptop.
Am I correct that if I should wait for GPS fix (steady blue LED on the onboard GPS of APM2), then arm the APM2. Then the GPS position is stored as the position that RTL will seek to? And everytime I re-arm, the current position is stored as the RTL position?
I ask because I got a bit confused in Flight Planner way point planning page, where there are possibilities to set a certain point as HOME... Does this get overwritten during arming?
Thank you very much!