have no experience with HFP to compare but I would agree with previous.... Naza GPS is very good and locks in well even in heavy wind. It is very user friendly and set up is a doddle but perhaps if their was a bit more user settings it could be fine tuned. In general flight in all but absolutely still air it is a little bumpy, you can choose between slow bumps, with low gains or quick bumps, with high gains. Gimbal stab is not terribly good and there is no way of increasing the refresh rate like with XA FC1212 which has slightly better gimbal stab. But then what can we expect for around $400. Overall I like the Naza for its simplicity and I really only use it for AP for which it is perfect for. It has IOC, RTH and it does what it says on the tin.