Hi Satoru and thanks for youtr return 
- I see you had scary moment in the first 15 seconds until you exit to FBWA
yes, strange, but with 4.2dev version, the wing it’s like a spinning-top, it’s a real joke , at the limit of the fun / afreid ! I really think this experience very interesting and Great Thanks of the DEV IMPLEMENTATION EFFORTS
- Noticed you have very PWM range set for RCOUT.C4, 900 to 2200. Does the servo really move to that?
it’s true, all the range are used
![image|266x500]
- One advice I got that could apply here is to raise q_a_rat_yaw_I and Imax, as high as 1
Thaks, I proced to test in the next flight
I see you struggled to point wingtip to the wind a few times?
- sorry, I don’t remember
Have a Great Week-end !