Another update for PH! "Higher accuracy on Position Hold The accuracy of PH is much higher now and the position is faster reached if the MK drifted away by the wind. All tested MKs achieved a much better GPS-performance. The difference is significant in areas with weak magnetic field and big magnetic declination - like in Brazil." http://www.mikrokopter.de/ucwiki/en/Firmware-2.06 So off to try it on my MK test Quad, where I just installed an external compass and had a new ACC soldered on the FC.