I returned my H back to B&H Photo within my 30 day return period because I was having drifting issues. My H would not hover over a fixed point in any reliable way. This made it dicey to land if it was drifting sideways. I would recalibrate the compass and accelerometer and it would do well for half of the next flight but would begin to drift again when hovering or do the toilet bowl effect. I just got a new H and it is the difference of night and day. It is rock solid over a fixed point even in a brisk breeze. Also, the latest firmware was already loaded. I noticed the camera video switch works great. On my last H, I had to click it more than once to make it go on or off. Everything on the ST16 feels very solid. I'm a happy camper.