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Yes..... I moved the IMU down onto the anti-vibe plate which is on the landing gear and most of the issues disappeared with respect to the surging motors..... But then the RTH was not functioning correctly...... It would come back over the original takeoff point at 60 feet but would go up inside...

Love the onboard shot of the camera gimbal setup....... adds a very nice highlight at the end of the vid... Was it necessary to also add a counterbalance weight on the opposite side of the Hex to balance the GoPro mounted out on the motor arm?

Payload weight options are quite limited with the Phantom.... in any case..... I have used a DJI LK900Mhz datalink system which has a side benefit of a complete flight trace on my Notebook PC to the final landing spot c/w GPS location. weighs less than an IPhone but costs a lot more...... Don't...

Spend only $39 and get the FrySky 8 channel FASST receiver with S.bus and you have the equiv of the Futaba 8 channel 6208SB FASST c/w s.bus which works 100% with NAZA and WKM. If you need more channels to handle Zenmuse etc. see ChrisViper's posting #9 here....... Also see posting #4 re: your...

The more powerful the motor and the larger the prop.... the more any remaining vibes affect IMU sensors, electronics etc. (angular momentum). The motors needed to be balanced with the motor/prop adapters installed. I use ISeisomometer app for IPhone with gravity force enabled then focus...

I had similar issues with one of my NAZA systems and it was caused by vibration..... After careful balancing of motors and props..... seemed to have almost same issues..... then I bought Kyosho Zeal tape and used it to isolate the NAZA controller from the MR airframe..... eliminating all...