I was not sure how to classify the problems I am experiencing... Here are the behaviors I am experiencing: 1) On takeoff, the Phantom does not take off straight up. It leans forward before it gets airborne. 2) Randomly while in the air. The Phantom will flash one green, followed by 2 green. (Center Stick problem according to the manual) I performed the stick calibration procedure in the advanced manual. Does not resolve the issue 3) As it gains Altitude it moves randomly. No discernible pattern. Certainly not the circle I have read about which indicates Compass problem. I recalibrated Compass anyways. Does not solve 4) When it gets roughly 20 feet above ground, it starts to try to fly away. (again no discernible pattern). I have to over compensate in other direction in order to bring it back to home while trying to cut power to bring it down without crashing. 5) From time to time I have noticed that the motors in the front seem to be fighting with the motors in the back. You can hear them whining higher than the rear motors. I have done the IMU recalibration in both basic and advanced. I have downloaded the factory settings and reset.