Just got a new Phantom 2 Vision+ & trying to verify before flying that it has no defects in hopes of preventing another flyoff. I also have a GPS tracker attached. After updating to 3.02, I checked the IMU Status on the Tools tab, and was informed that I needed to do a basic IMU calibration! Note that there was otherwise no warning that the IMU needed to be calibrated. Then, after changing from Phantom to Naza mode, the gyroscope went all wacky again, occasionally reaching a mod as high as 3.3! What I just described may have contributed to my flyaway as I never did an IMU calibration. Be advised that you should probably do an IMU calibration after updating the firmware OR changing modes.