I used to have problems with take-offs... Phantom tipping over etc. I think the problem is with the GPS, as it starts to adjust the movements of the Phantom even during the takeoff. Why do I believe this is the case? Because if you take-off in altitude mode, your Phantom wont tip-off. When I turn on the Phantom I let it stay in GPS mode so it can save the home location. Just before I take off I turn altitude/ATTI mode on and take-off. As the Phantom is in the air and I want to use GPS I turn it back on.