Hi mate , a few things to look at ,set up transmitter as a basic Aero NO mixing , this should stop the problem , then set up the switches on the transmitter ,after go into Naza assist power every thing up ( NO PROPS ON ) this will let you tell the FCB what switch is doing what CL/HL/return home etc , if you flick the switches you will see the mode change in the Naza assist if its set up right