I have a 20' extension ladder, then I screw 2x4's between the forks in the trunk to get another ten feet. I get myself higher than the branch I'm cutting. I could survive riding it down, but not being under it. I'm actually very safe about it. I think it through with contingency plans on what I'll do if any number of things go wrong.
The smoke is mild and pleasant (kind of like olive oil cooking off). My neighbors across the canal have commented on how good it smells. One of these days, I'll try smoking some meat or cheese with it.
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