I am flying in Phantom mode, but during the last few flights my Vision + seems to be flying in Naza Attl...I get 6-7 satellites to lock, calibrate compass before flight. After takeoff it does not stay in one position like the first 2 dozen flights. It will either do a latge 15-20 ft diameter circle or when flying left or right just keep drifting it that direction... this will last for about 3 minutes an then be back to lock on . The app and the leds so blinking green or 7 sats...I have not checked calibration yet...I am using 3.0 and 1.0.39 for the app.