The Phantom is programmed to switch to ATTI mode if it doesn't lock onto 6 satellites. My question is, why 6? My Phantom almost always has at least 3 on startup it then takes anywhere from 30 secs to never to get to 6 and up. Rarely do I have more than 8. So why doesn't DJI let us set the satellite lock number manually, maybe having 4 as the minimum? If you had GPS lock with only 4 satellites you would rarely have a flyaway and most flights would be far more stable. I'm an old retired Coastguardsman and years ago there was LORAN and rarely if ever did anyone have more than 3 towers to triangulate their position. It just seems that 6 is overkill and quite frankly in some cases dangerous.