"I changed a few parameters and I got it armed. I got it spinning, but even after the esc calibration, it won't lift off the ground and it very erratic. Still no gps lock.
I've calibrated everything from mission planner that I can.
Any ideas?"

"I can't help on the issue. But since I have uploaded V3.1.1, my GPS will not lock and it won't allow me to arm my quad. Then tried downgrading versions, still won't connect GPS or arm. "