Hi I have alexmoss gimbal connected to multirotor and legs of the drone are not separate but are connected with yaw (like this http://www.famoushobby.com/quick-released-uav6-hexcopter-multirotor-proffesional-dronerc-multicopter-fpv-with-rectangularflat-boom-armfree-shipping-p-672.html). With standard setup its working ok but when I added encoders yaw is spinning like a crazy when I am powering the system what causes that whole multirotor is rotating and I can not take off. Do you have any solution for that ? If the yaw is not connected with legs which stands on the ground it's working ok. I have 2.60 b4 encoder firmware.