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Thanks, but CG is just over the FC in the middle of the quad.

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Thanks Pete: good advice! Well, it won't go straight up, but it straightens out within a meter or so, and will hover where I want it. I don't know why it won't go straight up, all the motors/ESCs tach about the same and I wait for the multiple fast green blinks before I throttle up, but the...

So, I'm an old fart with about 20 years rc experience with fixed wing and limited rotary wing. I get an ARParrot quad and think "this looks like it could be fun!". I order a Century Neo 600 with NAZA M Lite with GPS and it goes together fine. I set parameters using Assistant Lite: I set GPS...