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I can recommend my A-99 Serpens Quad to you if you want a machine that can do that. You just press a single button to go into plane more. Click on its name if you want to give it a shot.
Does controlling it in plane mode give you trouble though, or is it just hovering that's problematic? Both builders that were kind enough to test it for me claimed to have had no issues with plane mode steering.
Great Freakin' Job man ! :D