it owuld be nice if the drone stayed in the field and did not come out of the field when coming back home or to the transit point. example if i was flying on the south end of the fiekd and there is a door yard on the North East side of the farm and it ends, runs out of battery, or runs out of liquid on the other side of that door yard and wants to come back, and wants to through that door yard. I would like it to just got around the boundary or through the field, whatever is the fastest route to come back to the transit point of home point. This also goes along with if theres an obstical that it dects in the middle of the farm or field that it would go around it instead of going over it and it should be able to sense how far to go around it. Sometimes we do not know there is an obstical in the farm and I dont want to set how far above to go or go around it would be nice if it could just go arounf it and detect how far to go arounf it on its own.