A lot of NT property comes under Areas of Outstanding Natural Beauty and also are wildlife refuge for both land and air specie. If you are deemed as 'disturbing' certain protected animals you will find yourself in VERY hot water. NON powered aircraft are accepted (including RC gliders). But if you are using motors or engines you are not allowed to fly there without permits/permission - Period.
It not a 'drones' thing it actually dates back some years and is a blanket ban on all RC aircraft on their property unless it doesn't have a motor.
Don't forget 166/7 doesn't just state structures - Its' vehicles, vessels or structures. A caravan would be classed as a vehicle as would the cars on the A62
If you use google maps and utilise the distance tool you will see you were (according to Google) just over 600m horizontal distance from your take off point (when you were at the summit over the path) and circa 20m from the guy at the summit (place the marker just past the two last rocks on and you will see what I mean).
Anyway, no harm done....and you DID ask
, just some knowledge for next time.