I dont think so, i believe gravity is ignored in flying mode. And if flying down that should make down faster right? The issue i am trying to debug with it right now, is trying to get the drone to fly down to a target, it always misses because it cant descend quick enough. I am starting to second guess myself as i cant find something favouring the directions in the cpp files either. so I will do some further testing. There is still an issue in changing acceleration properties for the different directions, im still not sure on the best approach to this even if the directions are in fact symmetric