I'm trying my best to understand all this stuff, but I have a loooong way to go. But, the way I see it, "IF" I program some waypoints into my Iris+, and send it on it's merry way, it is relying on the GPS satellites to guide itself from one to the other, etc. etc. However, if you do a "follow me" or "circle" etc. etc. I believe that the Pixhawk is relying on the strength of your phone/tablet GPS "as sent via mavlink" to the Iris+, to know where you are at. Soooo, the strength of the 3dr radios comes into play, right? Sooo, if I'm in "follow me" and walk into a metal building, etc. the signal will be probably lost. What fail safe should be setup in that instance? I'm guessing that the Iris+ would return to stab mode at that point? Uggg soo much to learn, but having fun the whole time.