The description of your video seems to make the point that you were flying dangerously because you went so high and flew above the clouds. You should change this so that it's clear the reason the flight was dangerous was simply that you were flying over a residential area. That's the important lesson people should learn from this video. Don't fly over residential areas or over the public.
When stuff goes wrong it will be purely down to luck that you haven't seriously injured someone or worse - if you keep flying in these kinds of locations.