So I'm switching to NAZA mode. I read a post where they said to check the S1 switch for proper configuration after switching to NAZZA-M in the assistant software, but until you actually see it, it gets confusing. So here is a little tutorial on how to do it from a noobs perspective. By default the 3rd position sets to Atti. Change the drop down setting to Failsafe. you should be good to go.