Can I upgrade Phantom firmware safely now (w/ Arris Gimbal)

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Seems there were a lot of issues initially with 3.14 & 3.16. Is it safe to upgrade now?

Related questions

1) I have an Arris Gimbal, it's my understanding that to set it up, I have to use the NAZA-M configuration software which will force me to upgrade before I do anything. Am I correct?

2) I read somewhere that IOC (Home & Course lock) is not enabled by default and I have go into the NAZA-M configuration to do so (same issue as (1))
 
Re: Can I upgrade Phantom firmware safely now (w/ Arris Gimb

I downgraded back to 3.14 - Phantom is much quieter. At 3.16 in the mode GPS Atti relatively large drifting ...
My setup is in the signature.
 

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