It would appear that the Naza GPS mode is similar to the non-Naza Vision mode. Are they really exactly the same, or is different firmware being executed? If the firmware is not literally the same firmware, then it can have different performance, response, control gains, and even different functions, and different bugs or deficiencies, like fly-away bugs. Since the quite valuable Home Lock mode is not available in Vision mode, one feels compelled to move to Naza mode just for that feature. It would be nice if the default Naza mode of flight control parameters was identical to Vision mode, so that the transition could be easily made. Or, simply allow activation of S2 in Vision mode, very useful for choosing the Intelligent Orientation Control mode: Off, Course Lock, or Home Lock.