With a DSLR and a proper Pano bracket we normally would have the camera Vertical, which allows a longer focal length and therefore more frames to stitch, really building resolution, but on the drone we are locked into a horizontal format, so 2-3 frames is generally all you need for a pretty wide panorama.
Given that I actually do almost a 50% overlap to really give he software a lot to work with for a seamless stitch. But 30% is pretty much minimum overlap.
You are right 20% is to tight.
For this pano I used 4 images with around a 30% overlap. The viewing angle is almost 230 degrees.
I used LR for the stitching.
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