tried to swap motors?
there are some issues with motors sometimes.
swapping them across and see what happens.
pmu faulty
naza has about 0.1 % of failing
most of the time : Motor / pmu
When adding expo, do you do this before or after calibration w/ the NAZA Assistant?Try raising your gain on Basic and lowering them on ATTI. My favorite starting point is 145/145/130/150 and ATTI 90/90 with 30% expo on elevator and aileron channels............