So in the air, the Bluetooth and recorded video show yaw wiggling left and right. It's small but present. Tilt and roll are silky smooth. On the ground yaw works good but I believe the extra movement on the helicopter make the problem show up. I don't think it's any vibration problems. Seems like the camera and frame imu are getting confused. See video for clear symptom. I feel like if I can fix that my problem will be gone. Anyway to disable the frame imu all together and just use one?