I did some tests today at my local park to confirm functionality of the resetting home functionality that was introduced in the last firmware update to the Phantom 2 Vision in mid December. I'm writing this because the manual isn't clear if this only worked in "Vision" mode or if it also worked for those of us who've switched to "Naza" mode. I can confirm it works regardless of flying in Phantom 2 or Naza mode and this is how I conducted my test and how you do it. *Please note the below tests were done with v2 assistant firmware and not the newer v3 assistant firmware but for the most part it should all work the same. And on a side note someone on v3.04 firmware said if they reset home position at a given altitude it now ads that to the height your Phantom will ascend to when initiating RTH. So instead of flying up to 66 feet it will fly 66 feet higher than the current altitude of your Phantom was when resetting home position. * To learn more about Naza mode and how it works read this thread. viewtopic.php?f=7&t=13956 I first made sure my Phantom 2 Vision had a "Home Lock" before initial take off. I also had both my S1 and S2 switches in the up most position. You know you have a "Home Lock" by first seeing a fast green flash followed by continuous slow green blinking of the tail lights. I took off then flew away from my home position, followed by switching my S1 switch into the bottom "Fail Safe" position. If you don't have yours set that way, just turning off your transmitter will accomplish the same thing. My Phantoms tail lights turned Yellow flashing followed by it ascending to 66 feet, flying over it's original "Home" point, pausing for a bit before descending. Before allowing it to land fully I put my S1 switch into the Center Position to regain control followed by switching S1 to the top position for "GPS" mode. I then flew my Phantom above a new location in the park approximately 20 feet away. To reset the "HOME" Position over the new location I was hovering over, I moved my S2 switch all the way down and then up 5 times. I then immediately observed the rear tail lights doing a quick flashing green to confirm the new Home position. To confirm my new "Home Lock" position I flew my Phantom away to see if it would return to the new Home spot when initiating Fail Safe. I flew a hundred or so feet away, as before moving my S1 switch to the bottom "Fail Safe" mode, again turning off your transmitter will do the same thing. And my Phantom flew up to 66 feet as before before flying straight over my new Home position coming in for a landing. This time I let it land all the way, it finished by turning off it's engines after touch down. Resetting HOME position where the new HOME point is at either a Higher or Lower altitude. I just came home running secondary additional tests to confirm what I already theorized, which is that resetting your Home location to a place that is either a higher, or lower elevation makes absolutely no difference in RTH behavior. So no worries there, you can mark your new home location, anyplace, at any elevation, with your Phantom at any elevation, it all makes no difference. I'll explain below exactly how I conducted these tests. I started my tests by taking off on a multi level stair case in my park at one of the lower levels. From there I powered on my Phantom where it marked it's home point. I took off and flew the Phantom over a grassy field where I proceeded to remark my home position. The grassy field was roughly 5 feet below the stair case where I took off. After the home point was marked I flew my Phantom away then initiated the Fail Safe and it returned to the new home point and landed perfectly at this new lower elevation. No premature engine shut off mid air as some worried. I restarted my engines and flew the Phantom hovering back over my original position on the lower level of the stair case marking the new Home position. I flew my Phantom away, again hitting Fail Safe made it returned perfectly to this new slightly higher elevation. I then decided to UP the ante literally by taking off again and flying over the ground past the stair case at the highest level. This is roughly 10 feet higher from the take off position. I marked my new home point at this higher location, flew it over the grass just a couple feet hovering, initiated the Fail Safe and it flew back to this new elevated location without a problem landing perfectly shutting off it's motors when it touched down. Now the crem de la crem. Keep in mind the Home point is now currently marked at the highest location in the Park, about 20 feet higher than the grass field. I took off, Flew the Phantom above a random spot of the grassy field and reset it's home point while it was hovering mid air, I then flew the Phantom away and initiated Fail Safe. Again, another perfect landing. It touched down on the grass perfectly, shutting off it's engines when done. In Summary: You can reset your Home position in either flight mode, Phantom 2 Vision or Naza mode. And it can be reset in flight at any altitude. It also does not matter if the new Home point you mark is either a lower or higher altitude than the altitude of your original take off, it will still function properly. Knowing about the ability to reset your home location can be useful for those of you flying your Phantom's from a moving boat. You can occasionally reset your home position as necessary. Also handy if you're walking around your neighborhood or a beach boardwalk for a great distance, Resetting your home position on occasion will also be useful there as well should you somehow end up in a fail safe.