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Have been reading various articles about which setting to use on the camera, and most of them state either aperture or shutter priority.
I sometimes use these but I also use P(program) or occasionally Auto.
Does this mean that the photos taken with these modes P or Auto, are 'bad' just because I am letting the camera do the work for me?, because looking at them they seem ok by my standards.

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Give us some examples and we can see !