I was just testing my RealSense between two trees flying in Angle mode. The trees were about 30 feet apart at lets say at the 3 o'clock and 9 o'clock positions. I flew towards the first tree and the H stopped and was able to back up. I then turned around and flew towards the second tree and the H stopped. I then tried to back up towards the first tree and it wouldnt back up (remember the H was in Angle mode so the sensors were still facing the second. It's as if the RealSense "remembered" where the first tree was and "knew" it was not supposed to back up towards it even though the sensors were not facing that tree! Pretty cool!