Phantom 4 Pro P4P not flying straight

This is the alternate/hack gimbal calibration that fixed it. Note the phantom resting on it's rear motors and it's facing in a vertical position:
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Gyres. Seems like these links are dead. Any chance you could update them or post the title of the video to search for? I’d like to see the procedure being done.
 
It seems that there is some confusion between calibrations being spoken of here. the original IMU calibration has it sitting on its back and the other positions I believe what they're trying to add to this is that while the craft is in that vertical position run gimbal calibration. NOT while doing IMU calibration.
 

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