Yes @aquila is right, flying in this mode should be with caution. Iād suggest staying strictly in āautoā modes (remove all other modes from possible switches in APM configuration). By āautoā I mean i.e. takeoff, loiter with RC override or executing a flight plan. It would be very risky to fly in modes where pilot input is required to keep it in the air, especially at take-off and landing.
Maybe you could tune a new mode, by taking a standard mode like loiter, then tweaking the parameters of how much tilt/override is allowed on operator input (not sure of the parameters but you should be able to find them on the APM Copter site) then you will have something in-between manual flight dexterity with auto mode safety