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Seems to be some confusion over the various modes, particularly over GPS position hold in Stability mode (which works perfectly), so hope this video shows it clearly. Green-SMART mode has GPS hold for position, and altitude controlled by left stick, full stick is around 60ft I'd guess, so you can set a 'height' and QX will hold that height. Right stick controls quad in relation to you regardless of which way its pointing, so forward stick will move away from you, back stick towards you and it will stop outside the 'safe circle'. Blue Agility mode has GPS hold for position, but left stick manually controls throttle, so you need to constantly adjust power to maintain or control height, right stick controls QX without stick relativity so when pointing towards you controls are reversed from your perspective, maximum bank is about 24degree's so you can fly around fast but without being able to flip upside down and any time you let go of the right stick, GPS hold will cut in after a couple of seconds. Red Agility mode is full manual control, with aerobatic response. Return to home/autoland works in ALL modes (I said agility mode as thats what I was in) but for me, other than showing off, its most useful in agility mode, or if your using FPV and have video interferance or lose track of where you are, which it will be perfect for. I am getting around 6-8 minutes flying before the slow flashing LED (5m50sec with gopro hero3 in waterproof case, up to 8 minutes flying with no camera) - I am landing then to avoid pushing packs, you can fly another couple of minutes to the fast flashing LED, but when I recharged pack I am putting more than 80% back into the pack (mah I have a cellpro charger which shows this), which shows this is pushing the battery too much so will reduce life. I would suggest you fly to slow LED's only, both for battery life, and safety, as if you fly past slow LEDs and are not watching carefully you could run the battery flat and then quad will fall out of the sky. Hope this is useful, please use comments for any corrections or suggestions.