The first time I flew my Phantom 2 was in gps mode everything worked perfectly. No crashing! The second time I noticed the right engine (as you look at battery) had a minor sputter before takeoff. It seemed to stop sputtering when I took off but gps mode didnt work to great, it held position sometimes but moments later it would drift for a while then start working again. I landed, reset the compass and started the engines a couple minutes after gps initiation. Before takeoff with the engines running I noticed the green light on the arm with the sputtering engine flickered in time with the sputter. The green light arm opposite flashed as it should. No colors other than green are shown from the 2 lights. Any ideas on how I could repair this would be appreciated, I would rather learn how to repair my Phantom than send it away, I would use my warrantee if it is something expensive though.