If your NAZA lite or NAZA V2 drifts in atti mode:

- perform an IMU calibration. If you have a NAZA lite the IMU calibration you will find in the PC tool under TOOL / IMU Calibration.

Make sure your Discovery stands on a 100% flat surface and you do not any movement during calibration. Best place is a stone floor (even a wooden floor can influence the result)

Do a test flight and check if it`s not drifting anymore. If it still does:

- Calibrate your ESC: http://team-blacksheep.freshdesk.com/support/solutions/articles/156474-how-do-i-calibrate-the-escs