I have been reading problems with 3.16 firmware issues and seems fly away problems may have increased? I wonder how many older Phantoms that have updated to firmware 3.16 have had issues? My older Phantom certainly did and took off never to be found again, so got a new Phantom, which contains a slightly different Naza controller, I believe the new ones contain Naza M V2, and who knows other small firmware twinks? When I got my new Phantom the update to 3.16 went well, no problems, no issues, but had toilet Bowl, but have found a fix, which I put in the Help forum describing the fix. Now the newer Phantoms, you cannot downgrade, so wondering if this is to do with the different firmware? the newer Phantoms may not be compatibly with the older Firmware updates? I was wonder 3.16 may not have a bug, but the older firmware maybe the problems and not 100% compatible with 3.16, which will be more likely for the newer Phantoms. It can be common as the product gets older, they twink the firmware in many things, and compatibility issues come about. This sort of thing has happened with Neato Robot vacuums, mine is a later version, slight twinks in hardware, and firmware and they state the lastest firmware is not for the older versions, so wonder if this is the problem with the Phantom? 3.16 not fully compatible with the older Naza M, or slightly different main boards, etc. After all when they start twinking components can cause slight problems? Not saying this maybe the case, as even some newer Phantoms I believe have had issues, but seems most maybe the older Phantoms with the newer firmware, which maybe really for the newer Phantoms, with the newer Naza MV2.