For those of you who saw my last post, I had plotted a sophisticated set of waypoints through some trees. However, at one point the Phantom was about 5' HIGHER than I set the waypoint, and it crashed into some branches. I saw it heading for the branches and immediately tried to manually lower the altitude, but the joystick did not respond while following the waypoints. That leads me to believe that while following waypoints, before you can assume manual control, you have to exit out of P mode and go into F mode first. Is that correct? It's an unwieldy step when trying to prevent an emergency.