"Even if you have better things to do, still do the above!" - HAHAHAHA love it! All done, still had a little bit of an issue with PH, it would work sometimes and other times it would roll to the left and start to gain height CH was working quite well though when PH did settle. Very frustrating. I am going to move the Navi out under the GPS tomorrow and see the results, hoping this will fix it. What is your Gyro D value set at (best for aerial filming) and would that affect the position hold quite a bit? BL temperatures seem more consistent now, however, the #6 is still starting very high (60-70 Deg) where the others are around 23, balanced everything and aligned shafts today so can't quite explain it. The error 22 has disappeared and the Cne is flying very well apart from that. There seems to be a little whistle coming from motor #6, maybe a bearing issue I suspect, do you think this could be causing the erratic temperatures? Will see how I go tomorrow with the navi board moved