Hi I have been using NAZA mode on my p2v+ after about 15 flights in Phantom mode. I have done about 20 flights in Naza mode and its been working well up until about 3 flights ago when it would jump from course lock mode and reset its self on a different orientation intermittently. I was wondering what was causing it and then on my last flight at about 300ft away it lost control signal ...or thats what my fpv screen said although it was still working ok in fpv. (ie live image) So i checked my RC controller batt voltage and it was 5.1v so i changed the batts and the volts showed 6.4v. I havent flown since but i bet that was the cause of the intermittent fault.