If you are correct that means that the p4pv1 and 2 along with the Mavic Air and Pro all share the same IMUs and compasses, which may be a possibility,that I do not know because I’ve never had the chance to tear them apart to find out. My p4pv1 was on the factory firmware for the longest time. Then it was updated to 04.0602. Left it there for 20 flights and everything was the way it should be,no problems what so ever. Then updated to 05.0600. Skipped the 300 version because I read it was causing motor surging and shaking when landing and the 600 version supposedly fixed that. At this update is when the yaw drifting and motor surging/ shaking started. I downgraded back to 04.0602 and the problem was still there. Updated a friends p4pv1 the same day and his flys perfect. His also went from the 04.0602 to the 05.0600 firmware skipping the 300 version. So what exactly is the problem? Is it faulty hardware, faulty firmware or a combination of both, or is the newer firmware versions damaging certain hardware components?