Hey @japellet Jean Pierre, that is great to hear the code is somewhat working. Make sure that each BLE command is spaced with 50 millisecond time intervals. If you blast a bunch of BLE messages at once the Bluetooth module on the CoDrone may disconnect. Also can you post some of the code here? I would like to see and I could ask @robolink_whoseop . Also to avoid destroying the CoDrone, whenever im testing code for the first time, I hold the CoDrone in my hand from its waist and fly it in my hand. That way I can test if communication fails I can flip the CoDrone upside down and it will turn off. For the trimming please do it with the auto calibration and not the trim functions on CoDrone