So 1 motor or ESC can fail in a flight. Why does the firmware (fw) not address this real possibility? I would assume if monitored properly, the fw could see a dead motor, and based on the IMU data, modulate the other 3 to make up for it. Should not be so hard to do. It could even use motor current drop to show a prop broke or spun off.... Why on a $ 1300.00 sophisticated device like this is that not addressed?