High Altitude Flight - Auto Or Pos Hold

ArduCopter Copter 3.2
1

I’m going to do a high altitude flight (im thinking 800 meters) with an iris+. To get to that altitude the fastest way possible and then descend so the battery does not drain, is it better to fly in auto or in pos hold?

Keep in mind that in pos hold, I would change PILOT_VELZ_MAX to the max (500).

Also, in a mission, does the takeoff command also hold position?

2

Flights in most jurisdictions are limited to 120m so you probably need to have the appropriate exemption from authorities to fly that high.

It can be very dangerous as about 120m you are entering small aircraft flight space