Thanks to a fellow friend and S6 owner, who originally let me on to this , and have mentioned some of this in a previous post.
On the old firmware and app versions , there used to be 2 modes. Indoor and Outdoor modes that you could select.
On the latest versions this option has been removed and you basically just have outdoor mode on all versions of the S6.
Indoor Mode
However you can still force the S6 into indoor mode.
This is done by starting the S6 indoors and making sure it is covered or deep in house, so it does not get any gps satellites.
You will know this as it gives a warning about no gps when you take off.
At take off in this mode , it does not climb as high as it does in outdoor mode.
Also the controlling of the S6 are almost at a crawl and hardly any movements are there in this slow mode.
One has to be careful as because of this , if its going hit wall or ceiling you wont be able to quickly adjust, so be careful if you do try this inside.
But in this indoor mode the S6 uses its bottom sonic sensors and position flow camera.
Also in indoor mode the height is limited to around 12 feet max.
This video is showing the S6 in indoor flight mode.
Outdoor Mode
In normal outdoor mode with gps lock, the bottom sensors are NOT used.
The S6 flys using gps and barometer only.
Conclusion
Probably very little reason for most to ever want to use indoor mode, it does wander a bit and the height lock is not very good using its sonar compared to other quadcopters. (This is probably why Wingsland pulled the indoor mode)
This testing was done, just to see if bottom sensors are still actually enabled at all and they are , but they are really deprecated features now and removed from app.
This also explains why when I have done tests with the bottom sonar board and position camera removed it flys exactly normal outdoors.
So in theory you could remove them, but as with including plastic bottom cover it all weighs just 8 grams. Not really going help much with flight time.
Also note, because of when S6 picks up GPS it goes into outdoor mode, its HIGHLY advisable NOT to fly this indoors.
The S6 picks up sats really easy indoors unless you are buried deep and then trying to fly indoors , but in actual outdoor mode the quad will try and gps lock its position and as I found out early on, end up in the wall 😉 Also the take off height is a lot higher and yet again as I found out, will hit the ceiling unless you have a really high ceiling!
I think some where I read even wingsland does not advise flying the s6 indoors and you can see why.