have you tried performing a recalibration of the IMU? use the advanced tab and perform the advanced recalibration. It will take like 10 mins but it will get the "MOD" down as close to 0 as it can. When I first looked at my phantom with the naza software, it's was at 1.7 MOD causing it to drift slightly right at all times. Since the calibration it's steady as a rock.