I am interested in Beyond Visual Range (BVR) flights with my Phantom 2. There appear to be several issues still to be resolved with the firmware of the Naza M V2 flight controller embedded in the Phantom 2; it does not currently support the Bluetooth or Datalink modules... I have wasted a great deal of time figuring this out... Ultimately, I want to be able to use the GroundStation Software to upload waypoints and BVR flight paths, but i'll have to wait till a firmware update to use the Datalink & software I already bought, or swap out the Phantom's Flight system. Which brings me to my next question -- Collision Aviodance. In BVR flight, there exists the very real possiblity of flying into a tree, utility/cell tower, utility line, etc. Does anyone know if a proximity sensor array has ever been fitted to a multirotor/Phantom, and if so, where can I find one or the plans to build one? Ideally, a sensor array that connects to the CAN bus and fits on top of the Phantom would be an easy solution.