In reply to DaveHK:
Yep, although you have those same sort of rules in the Trossachs now too! It was nice when I was in Scotland a few summers ago being able to pull off the the M74 and drive up a quiet glen somewhere in the Southern Uplands and pop the tent up for a few hours kip knowing we were doing nothing wrong.
OP: the former ranger who covered that area said at a BMC meeting that he would meet climbers kipping down at Froggatt or Stanage from time to time and would always just wish them a good night or good morning. Bill has retired now, and as far as I know they haven't replaced him for budget reasons, so I'm not even sure who might potentially object, but anyway he said as long as no rubbish was left he didn't mind in the slightest. I've bivvied on top of Stanage and Bamford a few times and no one seemed to care. I tend to go late in the evening and make sure I'm off reasonably early. Froggatt is slightly lower and potentially slightly busier but I bet you can find somewhere in the woods and no one will notice you.