The IRIS+ is my second quadcopter and first one with GPS modes. My 5th flight with a new IRIS+ went sour. The vehicle took off as soon as it was armed in loiter mode and would not respond to RTL or Land. I was lucky I found it at all. 3DR analyzed logs, declared a gyro at fault and repaired the quadcopter. The main reason I bought the IRIS+ is the failsafe modes....that failed. I now have it back in hand but I'm a bit gun shy now.
I've read a good bit including the 3DR manual and info pages, the APM:copter wiki and many of the posts on this forum. I'm thinking I should be able to disable geofence, change the loiter mode out for stabilize via tower or Mission Planner and fly under full manual mode. The 3DR manual says to install the long legs if I use stable mode to avoid vibration from the short legs.
I have a gimbal and camera but no plan to install them until I'm comfortable they won't just fly away. Any recommendations or suggestions to help me regain confidence in the IRIS+ will be appreciated.