Well we didn't make it to 2.01z as many of you predicted..lol Merry Christmas! http://www.mikrokopter.de/ucwiki/en/Firmware-2.02 Support for BL V3 Compass Offset The GPS-Data in the transmitter Logfiles are now compatible to HoTT-Upgrade-Studio YEA: Parts of the old GPS routines were re-activated so that the behavior in PH is similar to the old version. Some users felt that the behavior was slightly better at 0.90. NOTE: In older Versions, the parameter GPS-ACC was zero by default. In this version this parameter is important and must not be zero. Try to increase that if there are still problems in PH. external compass sensor supported