Having updated everything, I flew several missions in the simulator to get familiar with the new modes - great. This morning I tried those modes in the real world, and they did not work as advertised. Also, towards the end I got a Ultrasonic Fail message in normal flight, telling me to land as soon as possible. 1) Track mode - sort of OK, but it drifts off course during the first pass, getting progressively worse as I repeat the move. 2) Home mode - flying away from home the controls seemed strange. Once I had returned home, I found that the left/right move on the right stick, was reversed. When I went back to P, it behaved correctly. 3) POI - this seems to work fine, though it drifts a bit. I would like an easy way to set Zero speed, so that if I control the speed manually, the bird will stop when I let go the controls. 4) Waypoints - Way Wrong. Very imprecise way points. Follow Track for the camera does not line up quickly as it does in the Simulator. Heights go all over the place. It came back to the final waypoint then raised up about 5M from where I had set it. Would like to be able to use the controller for the speed, rather than the on-screen slider.