Hi Larry,

I'm almost there. I have the motors and props on correctly. I built a dipole antenna and get a good GPS lock. I have a radio antenna. The bird is connecting to the radio and arming. My issue now is flight performance. When I arm it and try to fly in manual mode it takes of pitch backwards and rolls right hard. If I take it outside and fly it in position lock mode it stabilizes at a set altitude, but flies in a clockwise circle with no control input. I noticed on the QGS radio settings tab that my setting don't match the 0/700/1400. At 0 throttle mine says -42 and it stops at 3%. The roll is constantly popping at center between 50-58%. When I push the stick far right it pops between 99% and 75% constantly. I have done all the necessary calibrations, and set my areas inclination and declination. Below is the param file.

# Onboard parameters for system MAV 205

COMM_BAUD1 115200

COMM_BAUD2 230400

COMM_BAUD3 3000000

COMM_BAUD4 460800

COMM_BAUD5 115200

COMM_BAUD6 115200

COMM_BAUD7 115200

COMM_STREAM_TYP1 2

COMM_STREAM_TYP2 0

COMM_STREAM_TYP3 0

COMM_STREAM_TYP4 0

COMM_STREAM_TYP5 2

COMM_STREAM_TYP6 0

COMM_STREAM_TYP7 0

CONFIG_VERSION 128

CTRL_DBAND_THRO 40

CTRL_DEAD_BAND 40

CTRL_FACT_PITC 0.0500000007451

CTRL_FACT_ROLL 0.0500000007451

CTRL_FACT_THRO 0.800000011921

CTRL_MAN_YAW_RT 180

CTRL_MAX 1446

CTRL_MIN_THROT 20

CTRL_NAV_YAW_RT 180

CTRL_PID_TYPE 0

CTRL_TLT_ANG_D 8400

CTRL_TLT_ANG_DM 725

CTRL_TLT_ANG_F 0.25

CTRL_TLT_ANG_I 0.00240000011399

CTRL_TLT_ANG_IM 360

CTRL_TLT_ANG_OM 1200

CTRL_TLT_ANG_P 290

CTRL_TLT_ANG_PM 725

CTRL_TLT_RTE_D 34600

CTRL_TLT_RTE_DM 9999

CTRL_TLT_RTE_F 0.25

CTRL_TLT_RTE_I 0

CTRL_TLT_RTE_IM 9999

CTRL_TLT_RTE_OM 1200

CTRL_TLT_RTE_P 0

CTRL_TLT_RTE_PM 9999

CTRL_YAW_ANG_D 0

CTRL_YAW_ANG_DM 0

CTRL_YAW_ANG_F 0

CTRL_YAW_ANG_I 1.99999994948e-05

CTRL_YAW_ANG_IM 0.0399999991059

CTRL_YAW_ANG_OM 1.25

CTRL_YAW_ANG_P 0.0500000007451

CTRL_YAW_ANG_PM 1.25

CTRL_YAW_RTE_D 240

CTRL_YAW_RTE_DM 386

CTRL_YAW_RTE_F 0.25

CTRL_YAW_RTE_I 0.725000023842

CTRL_YAW_RTE_IM 386

CTRL_YAW_RTE_OM 870

CTRL_YAW_RTE_P 1445

CTRL_YAW_RTE_PM 386

GMBL_NTRL_PITCH 1575

GMBL_NTRL_ROLL 1442

GMBL_PITCH_PORT 0

GMBL_PSTHR_CHAN 0

GMBL_PSTHR_PORT 0

GMBL_PWM_FREQ 200

GMBL_PWM_MAX_PT 2250

GMBL_PWM_MAX_RL 2250

GMBL_PWM_MIN_PT 750

GMBL_PWM_MIN_RL 750

GMBL_ROLL_EXPO 0

GMBL_ROLL_PORT 0

GMBL_SCAL_PITCH 0.0109890112653

GMBL_SCAL_ROLL 0.0142857143655

GMBL_SLEW_RATE 0.00499999988824

GMBL_TILT_PORT 0

GMBL_TRIG_CH_NEU 0

GMBL_TRIG_DIST 0

GMBL_TRIG_ON_PWM 2100

GMBL_TRIG_ON_TIM 1000

GMBL_TRIG_PORT 0

GMBL_TRIG_TIME 0

IMU_ACC_ALGN_XY 0

IMU_ACC_ALGN_XZ 0

IMU_ACC_ALGN_YX 0

IMU_ACC_ALGN_YZ 0

IMU_ACC_ALGN_ZX 0

IMU_ACC_ALGN_ZY 0

IMU_ACC_BIAS1_X 0

IMU_ACC_BIAS1_Y 0

IMU_ACC_BIAS1_Z 0

IMU_ACC_BIAS2_X 0

IMU_ACC_BIAS2_Y 0

IMU_ACC_BIAS2_Z 0

IMU_ACC_BIAS3_X 0

IMU_ACC_BIAS3_Y 0

IMU_ACC_BIAS3_Z 0

IMU_ACC_BIAS_X -0.218830004334

IMU_ACC_BIAS_Y 0.0684741809964

IMU_ACC_BIAS_Z -1.30578899384

IMU_ACC_SCAL1_X 0

IMU_ACC_SCAL1_Y 0

IMU_ACC_SCAL1_Z 0

IMU_ACC_SCAL2_X 0

IMU_ACC_SCAL2_Y 0

IMU_ACC_SCAL2_Z 0

IMU_ACC_SCAL3_X 0

IMU_ACC_SCAL3_Y 0

IMU_ACC_SCAL3_Z 0

IMU_ACC_SCAL_X 1

IMU_ACC_SCAL_Y 1

IMU_ACC_SCAL_Z 1

IMU_FLIP 1

IMU_GYO_ALGN_XY 0

IMU_GYO_ALGN_XZ 0

IMU_GYO_ALGN_YX 0

IMU_GYO_ALGN_YZ 0

IMU_GYO_ALGN_ZX 0

IMU_GYO_ALGN_ZY 0

IMU_GYO_BIAS1_X 0

IMU_GYO_BIAS1_Y 0

IMU_GYO_BIAS1_Z 0

IMU_GYO_BIAS2_X 0

IMU_GYO_BIAS2_Y 0

IMU_GYO_BIAS2_Z 0

IMU_GYO_BIAS3_X 0

IMU_GYO_BIAS3_Y 0

IMU_GYO_BIAS3_Z 0

IMU_GYO_BIAS_X -0.0636628866196

IMU_GYO_BIAS_Y -0.0123038096353

IMU_GYO_BIAS_Z -0.00464721815661

IMU_GYO_SCAL_X 1

IMU_GYO_SCAL_Y 1

IMU_GYO_SCAL_Z 1

IMU_MAG_ALGN_XY 0.014586689882

IMU_MAG_ALGN_XZ 0.00213674199767

IMU_MAG_ALGN_YX 0

IMU_MAG_ALGN_YZ -0.0528487712145

IMU_MAG_ALGN_ZX 0

IMU_MAG_ALGN_ZY 0

IMU_MAG_BIAS1_X 0

IMU_MAG_BIAS1_Y 0

IMU_MAG_BIAS1_Z 0

IMU_MAG_BIAS2_X 0

IMU_MAG_BIAS2_Y 0

IMU_MAG_BIAS2_Z 0

IMU_MAG_BIAS3_X 0

IMU_MAG_BIAS3_Y 0

IMU_MAG_BIAS3_Z 0

IMU_MAG_BIAS_X -0.458405613899

IMU_MAG_BIAS_Y 1.06604802608

IMU_MAG_BIAS_Z 0.272977799177

IMU_MAG_DECL 8.52999973297

IMU_MAG_INCL -66.8300018311

IMU_MAG_SCAL1_X 0

IMU_MAG_SCAL1_Y 0

IMU_MAG_SCAL1_Z 0

IMU_MAG_SCAL2_X 0

IMU_MAG_SCAL2_Y 0

IMU_MAG_SCAL2_Z 0

IMU_MAG_SCAL3_X 0

IMU_MAG_SCAL3_Y 0

IMU_MAG_SCAL3_Z 0

IMU_MAG_SCAL_X 1.0838509798

IMU_MAG_SCAL_Y 1.0783200264

IMU_MAG_SCAL_Z 1.01417601109

IMU_PRESS_SENSE 0

IMU_ROT -135

LIC_KEY1 XXXXX

LIC_KEY2 0

LIC_KEY3 0

MOT_ARM 0

MOT_CANH 0

MOT_CANL 0

MOT_FRAME 6.16481641201e-39

MOT_MAX 1050

MOT_MIN 0

MOT_PWRD_01_P 5.79595708847

MOT_PWRD_01_R 5.79595708847

MOT_PWRD_01_T 1

MOT_PWRD_01_Y -0.25

MOT_PWRD_02_P 5.79595708847

MOT_PWRD_02_R -5.79595708847

MOT_PWRD_02_T 1

MOT_PWRD_02_Y 0.25

MOT_PWRD_03_P -5.79595708847

MOT_PWRD_03_R -5.79595708847

MOT_PWRD_03_T 1

MOT_PWRD_03_Y -0.25

MOT_PWRD_04_P -5.79595708847

MOT_PWRD_04_R 5.79595708847

MOT_PWRD_04_T 1

MOT_PWRD_04_Y 0.25

MOT_PWRD_05_P 0

MOT_PWRD_05_R 0

MOT_PWRD_05_T 0

MOT_PWRD_05_Y 0

MOT_PWRD_06_P 0

MOT_PWRD_06_R 0

MOT_PWRD_06_T 0

MOT_PWRD_06_Y 0

MOT_PWRD_07_P 0

MOT_PWRD_07_R 0

MOT_PWRD_07_T 0

MOT_PWRD_07_Y 0

MOT_PWRD_08_P 0

MOT_PWRD_08_R 0

MOT_PWRD_08_T 0

MOT_PWRD_08_Y 0

MOT_PWRD_09_P 0

MOT_PWRD_09_R 0

MOT_PWRD_09_T 0

MOT_PWRD_09_Y 0

MOT_PWRD_10_P 0

MOT_PWRD_10_R 0

MOT_PWRD_10_T 0

MOT_PWRD_10_Y 0

MOT_PWRD_11_P 0

MOT_PWRD_11_R 0

MOT_PWRD_11_T 0

MOT_PWRD_11_Y 0

MOT_PWRD_12_P 0

MOT_PWRD_12_R 0

MOT_PWRD_12_T 0

MOT_PWRD_12_Y 0

MOT_PWRD_13_P 0

MOT_PWRD_13_R 0

MOT_PWRD_13_T 0

MOT_PWRD_13_Y 0

MOT_PWRD_14_P 0

MOT_PWRD_14_R 0

MOT_PWRD_14_T 0

MOT_PWRD_14_Y 0

MOT_PWRD_15_P 0

MOT_PWRD_15_R 0

MOT_PWRD_15_T 0

MOT_PWRD_15_Y 0

MOT_PWRD_16_P 0

MOT_PWRD_16_R 0

MOT_PWRD_16_T 0

MOT_PWRD_16_Y 0

MOT_START 0

MOT_VALUE2T_A1 2.46399998665

MOT_VALUE2T_A2 0.507000029087

MOT_VALUE_SCAL 3.5

NAV_ALT_POS_I 0

NAV_ALT_POS_IM 0

NAV_ALT_POS_OM 1

NAV_ALT_POS_P 0.20000000298

NAV_ALT_POS_PM 1

NAV_ALT_SPED_I 2.84999990463

NAV_ALT_SPED_IM 700

NAV_ALT_SPED_OM 700

NAV_ALT_SPED_P 200

NAV_ALT_SPED_PM 150

NAV_CEILING 0

NAV_DIST_I 0

NAV_DIST_IM 0

NAV_DIST_OM 999

NAV_DIST_P 0.5

NAV_DIST_PM 999

NAV_HDFRE_CHAN 0

NAV_LANDING_VEL 1

NAV_MAX_DECENT 1.5

NAV_MAX_SPEED 5

NAV_SPEED_I 0.00749999983236

NAV_SPEED_IM 20

NAV_SPEED_OM 30

NAV_SPEED_P 10.5

NAV_SPEED_PM 20

PPM_CHAN_MID 1512

PPM_SCALER 3

PPM_THROT_LOW 1090

QUATOS_AM1 -8

QUATOS_AM1_KNOB 8

QUATOS_AM2 -50

QUATOS_AM2_KNOB 9

QUATOS_J_PITCH 4.09999993281e-05

QUATOS_J_ROLL 4.09999993281e-05

QUATOS_J_YAW 7.89999976405e-05

QUATOS_K1_KNOB 10

QUATOS_L1_ASP -10

QUATOS_L1_K1 18.6000003815

QUATOS_MAX_OUT 1.5

QUATOS_MM_P01 0.0430000014603

QUATOS_MM_P02 0.0430000014603

QUATOS_MM_P03 -0.0430000014603

QUATOS_MM_P04 -0.0430000014603

QUATOS_MM_P05 0

QUATOS_MM_P06 0

QUATOS_MM_P07 0

QUATOS_MM_P08 0

QUATOS_MM_P09 0

QUATOS_MM_P10 0

QUATOS_MM_P11 0

QUATOS_MM_P12 0

QUATOS_MM_P13 0

QUATOS_MM_P14 0

QUATOS_MM_P15 0

QUATOS_MM_P16 0

QUATOS_MM_R01 0.0430000014603

QUATOS_MM_R02 -0.0430000014603

QUATOS_MM_R03 -0.0430000014603

QUATOS_MM_R04 0.0430000014603

QUATOS_MM_R05 0

QUATOS_MM_R06 0

QUATOS_MM_R07 0

QUATOS_MM_R08 0

QUATOS_MM_R09 0

QUATOS_MM_R10 0

QUATOS_MM_R11 0

QUATOS_MM_R12 0

QUATOS_MM_R13 0

QUATOS_MM_R14 0

QUATOS_MM_R15 0

QUATOS_MM_R16 0

QUATOS_MM_Y01 -1

QUATOS_MM_Y02 1

QUATOS_MM_Y03 -1

QUATOS_MM_Y04 1

QUATOS_MM_Y05 0

QUATOS_MM_Y06 0

QUATOS_MM_Y07 0

QUATOS_MM_Y08 0

QUATOS_MM_Y09 0

QUATOS_MM_Y10 0

QUATOS_MM_Y11 0

QUATOS_MM_Y12 0

QUATOS_MM_Y13 0

QUATOS_MM_Y14 0

QUATOS_MM_Y15 0

QUATOS_MM_Y16 0

QUATOS_M_TLT_RT 1.5

QUATOS_M_YAW_RT 1.5

QUATOS_PROP_K1 200

QUATOS_PT_KNOB 11

QUATOS_QUAT_TAU 0.0500000007451

RADIO_AUX2_CH 5

RADIO_AUX3_CH 9

RADIO_AUX4_CH 8

RADIO_AUX5_CH 9

RADIO_AUX6_CH 10

RADIO_AUX7_CH 11

RADIO_FLAP_CH 4

RADIO_GEAR_CH 8

RADIO_PITC_CH 2

RADIO_ROLL_CH 1

RADIO_RUDD_CH 3

RADIO_SETUP 8

RADIO_THRO_CH 0

RADIO_TYPE -1

SIG_BEEP_PRT 0

SIG_LED_1_PRT 0

SIG_LED_2_PRT 0

SIG_PWM_PRT 0

SPVR_BAT_CRV1 9.21014404297

SPVR_BAT_CRV2 14.8179597855

SPVR_BAT_CRV3 -58.9025497437

SPVR_BAT_CRV4 116.608200073

SPVR_BAT_CRV5 -107.419296265

SPVR_BAT_CRV6 37.7908210754

SPVR_FS_ADD_ALT 0

SPVR_FS_RAD_ST1 0

SPVR_FS_RAD_ST2 0

SPVR_LOW_BAT1 3.11999988556

SPVR_LOW_BAT2 3.11999988556

SPVR_VIN_SOURCE 0

TELEMETRY_RATE 20

Thanks

Erik