What colour are your lights,solid green on remote,,solid green on link light,,gimble light green,,I'm just eliminating things in my head,,that chirping almost tell me esc error,,or something needs a calibration ,,redo your rc calibration incase not at 100% input from sticks,,what's air craft status say,are sensors all normal ? Have you tried imu and compass calibration?,,,I'm unsure with firmware ,delete the file and reinstall app,file could be corrupt,,the other reason for reinstall of app is if firmware incorrect you get the prompt again at top in red ,on your home page there 3 black lines top right,press and hold and see if any roll back available,,,lot of guess work here but it's only way to know what sort of going on