Tagging @ash2020.
You may like to look at his recent thread Finally flew from the boat! Sad about the results .
Things to consider …
a) moving boat? … keep Home Point updated!
b) there WILL be objects when returning to the boat (more-so if sailing rather than motor - but depends on the boat) so Obstacle Avoidance off.
c) Precision landing off … and if hand catching, downward sensors off (or you can’t easily catch it!)
A launching/catching handle like @ash2020 has made (see that thread) seems like an excellent idea!!