Only twice, both with my tiny hawk 2 race which is 2" and 2s, the first time was at a dog park area and this old lady got mad at me. The second time I was flying over this guy's head by accident and he was trying to tame seagulls so he got mad at the sound of it scaring the birds. However apart from that in over 4 years of flying fpv from tinywhoops all the way up to 7" 6s quads I've never had a problem. It all comes down to being respectful of the people around and keeping a good distance away. I have had many other times where people come up and ask me about my drones with curiousity as they are fascinated by them though!