My first short flights have all ended with soft crashes into the grass so this is obviously going to require serious patience to master. I'm concerned that the Phantom is not behaving as I expected in GPS mode. It seems to be getting enough satellites but it wanders around, more or less in a circle about ten feet or so in diameter. There was virtually no wind. Although the Naza Assistant says that calibration isn't required, I wonder if this could be related to compass calibration. Or are the GPS and compass functions entirely separate? About the gains: I know that experienced pilots are increasing them but how about going below the default levels for the easily confused noobie? What values would you suggest for Phantom "training wheels" flight? As I mentioned in another thread, our meadow is suddenly looking very small and hazardous. The Phantom is quick!