After looking at the pictures posted of before/after for focusing the CGO3+, I've concluded that mine does indeed need to be focused. My question is: should I bother with sending it into Yuneec and let them do this since it's still under warranty, or just do it myself and (possibly) void the warranty? I understand that there are better 3rd party lens available and that option is not off the table, but I want to work with what I have first before moving to that option. For anyone who has sent theirs to Yuneec; how long was it out and did it make a significant enough difference to warrant the wait? For anyone who focused it themselves; what would be the best setup for this? Did you focus it against something akin to an eye test at a specific distance and is there an optimal light level when doing this? I hope this question will pull together some useful information for others as well who might be in the same position.