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In the beginning I misunderstood the manual. My IMU is 6cm over CG, and I set IMU Z to 6 instead of -6. It still flew ok and held position pretty good. But after I corrected it to -6, it started the "toilet bowl", going round and round. I then had to change some of the X and Y values a little...

From Wookong manual: Fill in the distance between body center of IMU/GPS and the C.G. of multi rotor in X, Y & Z axles as showed in the figure.

What kind of bugs are there in 5.02? Haven't noticed anything.. Something I should watch out for?

This sounds like a compass problem, not a gps problem. Try calibrating compass again!

Then you may have calibrated ESC's with a wider throttle range than your transmitter/DJI use now. This would explain the reduced throttle you experience.

Radio endpoint settings should be set to 100%. Then you have to calibrate ESC's, and finally you calibrate the controller with the DJI software's stick calibration.

I also use Avroto 2814... It would be very interesting to have some more info about your multirotor. Is it a quad, hexa or octo? What is the total weight of your multirotor. What kind of propellers do you use? Are you using 4S battery? How big are your Maytech ESC's, 40A? Do they get hot at all?

Ok,, so I loaded firmware 5.02. Also tried lowering ESC timing to medium. The problem is the same, the ESC's get too hot. I'm not sure DJI is to blame in my case.

What can cause this problem? I believe I can run the esc/engine directly from rx receiver at much higher speed than required for normal flight, without having problems with ESC overheating. But when WMK controls the ESC it gets hot. Is it because WKM is changing motorspeed more rapidly, causing...

My DJI wkm was delivered with 5.06 and I never tried earlier versions. It works ok with no payload, but when I add camera(700grams) ESC's get hot and starts to shut down after a couple of minutes. I have not had this problem when using other controllers on this multirotor. Using Turnigy Plush...