My 450 holds very accurately in gps mode but my 550 seems "drifty" in gps mode.
Is this because my COG might not be perfect? Perhaps my x,y & z distance measurements are wrong?
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My F550 seems to wonder a little bit at first, but seems to find a quiet place if I'm patient. A little more than my Phantom, but once they stabilize, they will both hold station within about a 1 meter area or less depending on the wind. If no wind, they will pretty much not move once they stabilize. IMO the NAZA is pretty tolerant of an imperfect CG, much so more than perhaps a CC3D without GPS. On my QAV250, If it is so much as a few grams in any direction, it will begin to move that way. For instance, the angle of the 5.8 antenna will move it. But it's a very light MR without GPS. So, it's somewhat relative.
