I just did a test flight after upgrading to 3.1 and my phantom flew exactly the same. Same rectangular drift when hovering. same loss of GPS lock when yawing. None of the improvements most are seeing. The only thing I can think of is that while on the screen that shows all the gain settings, I clicked Default and they all changed (to maybe pre upgrade values). Could someone who is seeing improvements with 3.1 please post their gain settings. I can then set mine to match and see if that make a diffence. Thanks.