In order to avoid sending your drone where you do not want it to go, why not update the fields where you enter the x,y,z and heading values with the values for the state estimate while you are not hovering? I would do the change in the GUI file with a simple if condition.
Take the reference state instead of the state estimate (it is also always updated and if you send a go to pose from the gui it is effectively a reference state)
I would not make those values have too high resolution so round it to at least centimeters
In order to avoid sending your drone where you do not want it to go, why not update the fields where you enter the x,y,z and heading values with the values for the state estimate while you are not hovering? I would do the change in the GUI file with a simple if condition.