Many of you may be wondering what it means to change from Phantom to Naza mode as well as how the Naza features work. FYI detailed Instructional material on DJI website on Naza mode can be found under support sections for the original Phantom. And not in the Phantom Vision manual. Here's how you enable the other flight modes. You go to the assistant application that you used to install updated firmware. On the upper right it will say "Phantom 2". Clicking on that will give you the option to switch to "Naza" mode and you will be shown a warning. Once you've agreed your three position toggle switch on the right will now switch between GPS (top) Atti (middle) and bottom position will also be Atti by default but can be switched to Manual Mode which I do not recommend unless you're highly experienced on manual and don't mind risking crashing your expensive Phantom Also once you are in Naza more you can enable IOC or Intelligent Orientation Control under advanced section. If you do the left three way toggle will do the following. Up (off) Middle (course lock) Down (home lock) Description of how Atti mode works. Atti does not use the GPS at all for flying in any capacity other than when entering RTH fail safe should you loose connection with your transmitter and had a GPS lock before taking off. The "gains" are at higher settings and you will be able to fly much faster at the risk of pushing your bird in to the ground if you give too much forward tilt as you will loose altitude while doing so. The Phantom still self stabalizes like it does in GPS mode to keep it self level and maintain altitude when you ket go of the controls, You will also not automatically slow down / stop when releasing the controls to center, you will only level but not stop until the inertia has stopped you. Wind will also blow you around and you'll have to pay attention and course correct for wind yourself so be mindful you don't get accidentally blown out of range. GPS mode will function the same as you have been flying out of the box. You can toggle between either mode as you are flying. GPS mode will maintain your position in space. If something such as a strong wind is able to Push your Phantom away from that spot, the GPS position hold will automatically move your Phantom back to that position when and if it can. Based on one of DJIs instructional videos by ex CEO Collin Guinn he stated that altitude is heald in place by the barometric pressure sensor so I don't think the GPS is being used to maintain the height even in GPS mode. In Atti mode tho I can say for sure that only the barometric pressure sensor is being used to maintain a specific altitude. Manual mode allows you to fly very aggressively to the point of doing flips and rolls with very little flight restriction. Do not use this unless you're already an experienced manual more pilot. Basic description of IOC and Homelock With the toggle switch set to Home Lock, if your planes over 10 meters away or 32 feet, regardless of which direction the nose of the aircraft is in when you pull back your right control stick your Phantom will fly in the direction of your "home" position provided you had a GPS lock before you took off. Keep in mind tho that your Phantom will fly a little slower in homelock mode than it does normally. For course lock think of a grid. When you powered up and get a GPS home lock and you have S2 in the center position, moving forward will always be forward regardless of which way your Phantom is pointing. The same with left and right it will always be left and right regardless of which direction the Phantom is rotated in. When using Course lock its best to do so with the Phantom powered up and facing away from you. You will then always need to remain facing that position so as not to get confused by how course lock works. That's about it, I may make some enhancements or revisions to my descriptions in this document if I see the opportunity to more clearly explain anything than I currently have it written. Happy flying.