Hi everyone, I have not seen a fix for this issue on this sight and wanted to share my results. If this has already been posted sorry but it was so helpful to me i wanted to share! When I first got my p2 while hovering it would yaw on a dime and never drift more then a few inches in any one direction. Over time I have added fpv (gimbal, gopro, video tx, mini iosd, tall wide landing gear) and it's ability to do this has slowly gotten worse and worse. After doing an advanced imu callinration the problem still persisted, sometimes drifting in up to a 10 foot circle. I would end up doing the advanced calibration several times to no avail. Finally after searching for a fix for weeks I came across the following info (http://forum.dji.com/forum.php?mod=view ... 343&page=1) and after reading completely through it I decided to give their fix it a try. I bought a small bullseye level (they call it a spirit level in the link) and went to work. The desk that I used while doing the advanced calibration was almost perfectly level like always but the flight controller was not even close to level. I shimmed the legs of my p2 with playing cards until the bullseye level was perfect, then plugged in the GPS unit (leaving the top of the shell off to make sure nothing changed) and did an advanced calibration. I then made a quick test flight and it would yaw PERFECTLY after my first calibration!!!! The whole process took me less then 30 minutes! If you experience yaw drift I highly recommend leveling your flight controller with a bullseye level and then doing an advanced calibration!