here is my 7 inch created to introduce me to the firmware INAV. I sometimes have fun flying to the limits of the receiver and the drone triggers the return to home. the drone can lock in altitude with barometer or 2D position with the GPS. These two modes combined to obtain a reliable 3D position and gives the impression that the drone is placed on a wall. Flight time with lipo 3 S around 10 mn and 14 mn with very slow throttle. it is not very pretty ;-) but the features of INAV are really effective.