planning a mission at constant height firmware 3.3

Hello everybody,

I was trying to understand how mission planner works during planning, I have some difficulties on explaining because I havent understood properly how the software thinks.

My drone is running firmware 3.3 (latest stable version), while planning the mission I got my attenction on altitude options which are...

Relative, absolute and terrain.

I have tried some planning and what I have seen from the kml is that the drone will try to fly at a constant height from the ground only if a set to 0 the altitude related to the home position. 

If I leave the real absolute height it will add the mission altitude to that value. 

What is the correct procedure for planning a mission, lets say a mission with the aim of mapping?

Another question is, will the drone try to change the altitude during the flight or is it a specific feature for firmware 3.4? 

What is the aim of folder TERRAIN stored in the memory of my sd?

Thanks in advance.

Bests.

Marco

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