I have a Vision. If I switch between Phantom 2 and Naza-M mode, do I need to recalibrate the compass? I had a near disaster last night when I did this, and obviously something went wrong with the calibration. At about 6 feet, the beast took off on its own rapidly moving to the right and up - in Phantom 2 mode. I tried everything, including shutting the transmitter off. It hit a tree about 25 ft. up and broke 3 propellers. After a new compass calibration and Advanced IMU Calibration, all was well with the Phantom. I had some heart pounding moments, let me tell you.