What is next step?

I have my quad APM2.5 with GPS and sonar flying in stabize mode.  I have several flights and I'm happy with both trim and tuning for now.  I want to try a second flight mode and I'm thinking about loiter as my first choice.  Not sure how this works.  I think I'll rise up to about 30' and hold position and then toggle loiter and see what happens.  Can I over-ride loiter with the sticks or will the machine disreguard the Tx until I toggle back to stabilize?

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