It's like a car with an alignment problem. The Phantom will not hold a heading consistently. Either some firmware after 3.04 and/or the H3-3D introduced an un-commanded yaw problem. The whole Phantom will rotate up to 10 degrees without any input. It won't hold a track consistently and when trying to aim a shot, it will lag badly. It is particularly bad when: yawing while stationary initiating a forward movement descending (even at 0.5m/s) coordinated yawing and rolling flying forward into a wind The gimbal will also track off center in a number of shots, mostly to the left. Raising the yaw gain does little to fix either issue and lowering it makes it sloppy. I suspect the whole issue is gimbal related but most of the un-commanded yaw is being done by the Phantom. Hitting 10.7v early wouldn't be so bad if I knew I had the shot. This is ruining shots. DJI, you should be paying me to beta test your products.