Just upgraded my firmware released today, 9/26/16 for the H only. Flew one battery and everything looks good so far. No compass warning for the first time since the last two upgrades. No funky twitching or delays in stick response. Looks like and I hope Yuneec got it right this time. I have had an ongoing case with them for compass warnings and they kept telling hang on, we are working on solution. A few more flights will tell for sure.