@elisaheinrich Ah, gotcha! Were you able to update the CoDrone's firmware to 50.18? That's step #3 in the Updating CoDrone. Also, did you try using the "zero-out" blocks I sent in the previous message? Try putting those blocks together, then clicking those as they're linked together a few times so it "zeroes out" the variables. As I mentioned, updating the firmware to 50.18 will also work, and it's the more permanent solution. Also, can you confirm that calibration has been working? As in, it takes off, hovers for 5 seconds, and lands? Give it a shot, and let me know if it helps!