This is my first comparison between the take off with firmware V 3.10 and the firmware V 3.12. At first, both look identical. But at the second attempt you will see that I have my motor idle speed set to High in firmware 3.12. I do not know why it does not always work on the first try. In addition, the Naza needed no warm up at the first indoor attempt. This had made me very happy. Unfortunately, the reality is different.