This is Wade with Clark ag. Our method of operation is to pull into a field at night, map the field, mark out any obstacles ( that we can see!), and hit the go button on the controller. Although we have the controller in our hand when the drone returns we always let it auto land. ( our thought is it is safer to auto land than try and do it manually especially in the wind). If at anytime during the mission we have to touch the sticks, something has gone wrong. On multiple occasions we have missed marking out power poles, power lines even portable windmills as obstacles. When the drone encounters these unmarked obstacles it simply goes around them without hardly losing any speed. We have never had a crash with the Xag 150 because of an obstacle in the field, it sees them and avoids them even at 30 plus mph. Our experience with the c31 is different. One night at each end of the field the drone saw trees or power poles across the street well out of the field boundary. A lot of times it simply locks up and we manually have move it. Sometimes the only way to get it to move is to take off the obstacle avoidance. Not cool. Efficiency for us is how many acres an hour we get done. When we have to monkey around with ferry heights approach heights it kills efficiency in the category that counts, acres per hour. Every time we add options it complicates things making it harder and take longer to train new pilots. Simple is good. The drone needs to be able to identify obstacles and avoid them with out operator input period. We are very high on the c31 and are looking forward to great things. However from our perspective the radar is a serious problem right now for fields that have multiple obstacles in or near the field.