If it ain't broken, don't fix it is the old saying and maybe true with Phantoms, have been reading about the Flyaway issues and seems many of the flyaways seem to happen most when people have updated the firmware. Why keep updating if it's running fine? The more you update firmware the more you risk losing your Phantom, the more often you do it, the greater the risk becomes, so why increase the risk of losing your Phantom with always updating to every new firmware? Mine was working perfectly before updating to 3.16, then had a fly away after 3 perfect flights. never again will I do a firmware update, it's not worth the risk to your Phantom. If it's flying well leave it.