OMG! You're so absolutely right, I thought something was wrong with the setup, like you said with more camera angle. the yaw and roll totally feel like they start to switch places that just clarified so much for me I didn't take into account the plane of the quad and the angel of the camera ,well I did but not when it came to the hard right and left turns, all turns for that matter I have to input a little mor down pitch along with roll a lot sooner when coming in hot to a turn thank you so much it seems like a lightbulb just went off in my head ,now it's time to go enter a practice Session! thank you for the support! your project will be getting the stars it deserves from me! have a good one. PS: such a great explanation thanks again sometimes it's the simple explanations like this that make it all click for some of us.