To lay a little groundwork, straight out of the box, after successful compass calibration: On one of my very first flights a few weeks ago, everything was going well, the P3P was about 75 feet up and about 150 meters out. Then out of nowhere the monitor (my iphone) starting repeating "atti mode", "atti mode". the drone began behaving erratically, going side to side and just acting well, erratically. This went on for about 7 or 8 seconds but it seemed like a lot longer! Being like the 3rd flight, it scared the **** out of me so I immediately pressed the RTH button. It stopped shouting "atti mode" at me and returned home. All is well, no other issues other than the need to change my pants! I've flown dozens of times since then, and upgraded firmware since then and it has never happened again. Any ideas?