It's in the manual! Set the bird on a cool, level spot. I use a spot on my basement floor that I have checked for level with a carpenters level. Let it sit for 30 min or so. Then turn everything on and go to sensors in the go app and click on "calibrate IMU". It will take a few minutes, leave alone - don't touch it, start the motors or anything else until the app tells you it's finished. Most people also suggest dong a gimbal cal also after the imu.How do you do a IMU calibration?
I know exactly what it is.. I had the same issue, took it back to the place I bought it, and they replaced it. BUT as I was waiting for the new one to be brought out, the technician said he knew exactly what it was, and that it was a pretty simple fix. If you hold the phantom in front of you and look into the left side of it (phantom facing left), and push the back of the gimbal all the way to the back so the camera is pointing all the way to the left. you will see a little set screw right where the gimbal arm attaches to the motor that turns the gimbal to the left and right (I think it a tiny hex set screw). In my case this had loosened, and just needed to be tightened down. The way it should be aligned is that set screw should be tightened down on the flat side of the shaft coming down from the motor (which you can see if you look up underneath the phantom gimbal. Let me know if this gets you up and running...
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