I recently bought for a P4A as a cheaper backup for my primary P4P. However, compared to the P4P it flies like garbage. It rocks and hunts on hover, I have to fight it to fly in a straight line, etc. I have played with gains to no avail. The gyro reading looks great, so no issues there. I'm guessing it just has one of the many crap firmware versions. What version seems to be the best for overall performance so far?