Thank you for the opinions, the sole reason i am asking is bcuse of the many problem i've heard about s800's flipping over for no reason, i guss that is why you said to stay away from gps mode, i've read the v 5.16 is the best firmwre to go with and 5.20 also to be trusted, but not 5.26, i've heard people saying th v2 compass give problems which is the one i havewith the wookong. and that soldering joints should be checked on the s800 as it's prone to problms. So i guess a pixhwk would be best if i can get myself to learn it properly.