Under Bridge?

Yep, but fly in Atti mode. You will lose GPS.
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I believe that I recall a piece of advice for flying indoors, which also applies to flying underneath anything, which was to temporarily set your RTH function to hover as opposed to go home...

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As said above RTH set to hover, make sure you have good line of sight, maintain good clearances (even if it's a concrete bridge there will be a lot of steel in it) and either switch to ATTI before going under or or be prepared to loose GPS.
 
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