Hi folks. I have been using NAZA mode a couple of days and now think this should be the mode the phantom came out of the box. I find it a safer and easier mode to fly, only that one should be reasured what the toggles do, and NEVER program the S1 toggle with the manual mode in any position. But having the IOC and the RTH readily availabe at the flip of a switch are much better than don't have them. I will never fly in phantom mode for sure.