I used Switch1 and Switch2 in the title since the forum Search function will not accept 2-character words. From the P2V User Manual, for Vision (presumably the default) mode: S1 (and S2) should be Up before powering on, and presumably remain that way. S1 is used to trigger compass calibration (Down, Up 6 to 10 times) S1, when not Up during Failsafe mode, apparently allows the failsafe to be aborted when RC Control is re-established. S2, in the latest firmware, is used to trigger setting a new Home location, (Down, Up about 5 times) but only works if an initial home position was set. Questions: Does the new Home have to be done on the ground (not flying), or can it be done in the air? If done in the air, is the altitude of the new Home also set, so that the new Home landing spot might be hundreds of feet above the original home location? If the new Home is set up above the original home, but up above surrounding trees and buildings, will the P2V return above the obstacles (20 meters higher than the new home position), but then try to land, expecting to go down only to the new home altitude, but need to keep descending perhaps hundreds of feet more, and perhaps crash due to insufficient battery?