On what firmware were you? Beceause i am noticing strange things to. And I am trying to finde my issue. I to had my copter acting realy strange in simple mode as if my rc channel was reversed al of the sudden but after switching of simple it was normal again. Some really strange things i am trying to reproduce the issue and have all the loggings on now. I must say I first had an orange frsky reciever and I now switched to an original futaba 14channel reciever and had a good flight with no errors.