I recently swapped out the landing gear on my p2 for the longer wider gear. My first flight was not good. The quad was very hard to control. I did the calibration dance and it got a bit better, but the quad still wanders quite a lot. I did the calibration dance again with no improvement. I tried to go into the Naza assistant software to do an IMU calibration, but when it first came up, there was a message that said "Main controller firmware mis-match" Any attempt to go to menus other that "upgrade" gave me the message "You must upgrade main controller firmware to new version" I plugged the controller in and got the windows "BA-DING" of recognition, but when I tried when I tried to check for updates, kept getting the "Please connect to the controller" message. Disconnecting gave me the "DE-BONG" of disconnection, so I know windows is seeing the device. I tried again to connect to the p2 and again could not get off the upgrade menu option with the same messages above. checking for updates returned "no updates" for all items. My firmware is as follows... Cotroller 3.02 GPS 184.108.40.206 phantom reciever 220.127.116.11 Gimbal CMU 1.0 Gimbal IMU 1.8 Battery 18.104.22.168 I did notice that controller firmware version 3.04 is available, but I can't down load it from the controller and when connected to the p2, it says no updates Sorry for the length of this postg, but any help would be appreciated. Edit: Since posting this, I did find out that one of my props was broken in a not very noticeable fashion. The original issue is resolved, but I silll have the issue outlined above of not being able to get into the assistent software.