I know some on here will know this technique well, but I thought for anyone searching topics, this title my help them in the future. If you are like me, and experiencing long IMU warm up periods, there is an easy solution. First an explanation: When an IMU calibration is performed, the calibration sets the operating temperature to the same temperature that the IMU is at DURING calibration. Therefore, a very common mistake is to boot the phantom up, let the IMU warm and then perform a calibration. This was my mistake and ended up resulting in 2-3 minute warm up times. The solution: You will want to perform a cold IMU calibration. Here are some simple steps. 1. Make sure the drone has been turned off for at least 30 minutes 2. Place the phantom in cool location. (Perhaps outside, a fridge, etc) 3. Allow entire phantom to cool to a reasonable temperature 4. Find a perfectly level surface that will not move or be disrupted during the duration of the calibration 5. Prepare the RC by connecting your mobile device. Power on RC 6. Launch App and open camera view 7. Open the Phantom settings menu, then open the sensors menu. 8. Power on the Phantom. 9. As soon as the RC connects to the Phantom, start the calibration. --- do not wait for the IMU to warm up. 10. Allow calibration to run until 100% complete 11. Optional: perform a gimbal calibration I realize this is old news to a lot of those here, but I am hoping this post serves as a quick stop for futures searches. Thanks.