I start by turning on the control, then the range extender, then the phantom. I grab my phone and look for the wireless network which usually takes about 20 seconds from startup. I connect and open the app and place my phone in the holder. I then start the calibration. usually it works on the first try, sometimes it does not, why would it not work if I am doing the same thing? Is the calibration point the home position? are you supposed to calibrate from exactly where you take off? I calibrate it, it turns green, then back to yellow. At that point I am RTF? or is it at that point I place it in the potion I want to set at home and wait for it to turn green (6 satellites) setting that as the home position? how long does it usually take? I have a lot of trees over 100 feet in my area and the RTH function would in my case, drop the bird to 60 feet. I am very afraid of flicking S1 up and down quickly more then 5 times once in the air to make the RTH altitude higher then the trees. Can you guys confirm this is correct and have you had experience resetting in air? Can someone also point out the difference between Naza and Atti mode? I also want to know experience flying behind dense tree coverage. once you are out of sight is the connection basically dead? is there an antenna that is better if you don't have line of sight? you guys are awesome.