The FPV camera compensation is cool new feature that compensates the camera angle while Yaw or Roll. This feature allow rolling around camera axis mixing automatically Roll input into Yaw+Roll motors commands. Credits to William Thielicke: http://shrediquette.blogspot.fr/2016/01/explanation-video-fpv-camera-tilt.html FPV camera Tilt compensation is located in Configuration > Stabilization tab > Advanced tab |