Except when necessary for takeoff or landing, no person may operate an aircraft below the following altitudes:
(A) Anywhere. An altitude allowing, if a power unit fails, an emergency landing without undue hazard to persons or property on the surface.
(B) Over congested area. Over any congested area of a city, town, or settlement, or over an open air assembly of persons, an altitude of 1,000 ft above the highest obstacle within a horizontal radium of 2,000 ft of the aircraft.
(C) Over other than congested areas. An altitude of 500 ft above the surface, except over open water or sparsely populated areas. In those cases, the aircraft may not be operated closer than 500 ft to any person, vessel, vehicle, or structure.
(D) Helicopters, powered parachutes, and weight-shift-control aircraft. If the operation is conducted without hazard to persons or property on the surface - (1) A helicopter may be operated at less than the minimums prescribed in this section, provided each person operating the helicopter complies with any routes or altitudes; specifically prescribed by the FAA. (FAR 91.119)