It is important not to move the model for about 5 sec. after switching it on. I find using a switch makes this much easier.I always power up my Naza at the "home point" in GPS mode, then wait until all the Red flashes have stopped and I see the LED pulse 4 Green flashes back to back in less than 2 seconds, this is when I know the home point is locked and the Naza is ready to go!