APM Pulls back in stabilize mode/ Falls drops when switched Loiter PROBLEM SOLVED (See Below)

I have an APM 2.6/ TBS Discovery running arducopter V3.1.  I have a couple of issues that i cannot figure out for the life of me.

Issue #1.  In stabilize mode without GPS.  The copter functions fine if i simply fly around in circles within 50-100 feet

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Mavlink/3DR Radio connection issue. "failed to update home location"

Hello, 

I am completely new to the APM 2.5 board, GPS, radio,etc.  I purchased them from:

http://witespyquad.gostorego.com/flight-controllers/readytoflyer-2-5-287.html

I've installed the board on my bixler, loaded arduplane to the board, installed Missi

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