Surprised about it being legal in Scotland, as I thought there were no legal rights of way there other than roads - so how do you legally get to wherever you camp? Guess I'm out of date or just wrong!
from the most excellent site on camping here:http://v-g.me.uk/index.htm
Scotland: the general right to wild camp is established in law along with the right of open access, and is allowed provided you keep well away from the curtilage of any dwellings and roads.
Dartmoor: To quote from the MOD (Ministry of Defence) site: "There is a presumption in favour of public access wherever this is compatible with operational and military training use, public safety, security, conservation and the interests of tenants". This includes camping, but it is essential to check the Public Access page and the Dartmoor Training Area Firing Notices page for the latest information.
England and Wales: For most upland and countryside areas there are two answers: the lawful one which is "nowhere" and the practical real one which is "almost anywhere", see below.