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That's an interesting thought. Originally, one of my motors was more sluggish than the other three (it would stop very quickly) so I thought maybe that could be it. But I just checked & it no longer does that. Theoretically, it shouldn't make any difference - the FC should be able to track...

I was showing (& explaining) that video to a friend today & I noticed an interesting thing: when the quad drifts off, it drifts with a constant velocity, not a constant acceleration. So whatever causes it, is some kind of one-off impulse when the yaw stops, not a constant attitude offset. In...

I did a more comprehensive test: http://www.youtube.com/watch?v=xsV6vf20TTw It's not really conclusive, but in my case it seems that, no matter which way you yaw or how much, once you stop yawing, the quad drifts 45 degrees left and forward (i.e. in the direction of the front/port rotor arm)...

Just FYI - My gains have stayed as they are out of the box: 100% on everything. It would be interesting to see if it has this behaviour (the initial drift after yaw) in Atti. (no GPS) mode & manual mode which would rule-out anything related to the GPS upgrade.

OK so - some observations: In my video, I yaw the quad clockwise in both cases (as seen from above) &, after the yawing is done, it drifts left/port (the lights are standard aircraft format: left/port = red, right/starboard = green. Front is white & the rear arms have the strobes) In both...

I also have raised this issue in another forum but so far, no responses. I made a video of it here: http://www.youtube.com/watch?v=FrckYYC_Lf4&feature=plcp I wonder if it is the same mechanism which causes the well reported 'toilet bowl effect'; just a stationary version of it? (Apologies...