I'm having a similar issue flying straight (wants to veer right). I read another string somewhere that it had to do with the vision sensors needing to be calibrated using DJI Assistant. I did this and for the most part my issue is fixed. Strangely enough when my drone is first started up and cold it will still veer right at times when I'm pushing straight forward - and when that happens often will come up with a compass error message. I land and restart again and all is well and flies straight without errors (strange, but true)...