[kennyevo]

With only the complementary stabilization the quad is super steady, if it takes the mag in the calculation it messes up everything :S
So no gps assisted flight mode till I get an external mag

One more off question: Can I set up the oplink to control the quad with an fs-i6 tx? If yes, how?

[kennyevo]

Oplink vehicle control works perfectly with fs-i6, the upper left pin is the ppm out on the trainer port, and had to connect the 5v to the battery tray, the trainer port has only 3.3v