Maybe most know this but, for those who don't. Found out that if you start the motors via controller( both sticks down and to outside/inside) when you press the takeoff button on the left, you get a small wait and then an error message. Something to the effect of "timed out action, error code bla, bla." If you just use the button itself w/o starting the motors 1st, with controller, all works well. Just an FYI. Hope that makes sense.