After replacing the main board, flight controller (new one said Vision+ on the bag), ESC's (V2.1) and upgrading the motors to 2312 with 9450 props, the default gains were: Pitch: 125% Roll: 125% Yaw: 120% Vertical: 140% Pitch Attitude: 260% Roll Attitude: 260% The pitch and roll was really twitchy as you might expect with the beefier motors and higher pitch props. Lowering the pitch and roll attitude to 170% seems to have smoothed it out fairly well. Just for kicks I decided to see if lowering the yaw basic gain would possibly do anything to slow the yaw control, even though I wasn't expecting it to because that's not what the basic gain setting is for. Regardless, I dropped it to 50% and yikes. Yaw was really sloppy and the overrun was pronounced. Seemed like it had a mind of it's own sometimes. At 120% the yaw would still seem to continue moving slightly after centering the control. Increasing it to 140% seems to have made it more accurate. No "overrun." Really the only way I see to get serious about making the Phantom 2 as smooth as possible for really good videography work would be to use a different controller where you could manually set all the control parameters. For instance, I'd love to have switches that would do a slow pan left and right. Or even set a parameter that would do a slow outside circle and pan to the center. Still think I'll save that idea for a bigger, more open platform. Sure their are smart "drones" that can do that but anyone with the bux can by one of those. I'm a hobbyist. And for what it is, I think the P2 is a great little machine. What gains do you use that give you the best results with the upgrade motors?