After switching off the obstacle avoidance, I was able to fly under the nest. I discovered this from flying under the nest earlier in the day before deciding to record the video. I had already got a large number of the hornets on the first unrecorded flight. What I didn’t expect was for them to get aggravated just by the sound of me launching my UAV on the second ‘recorded’ flight. They remembered the noise from the first time and were attacking my camera on the tripod near the nest. Once I was near or under the nest they started attacking the UAV.