INAV is not perfect. One of the most visible INAV problems is horizon drift usually manifesting itself as a tilted artificial horizon in the OSD. You make a sharp turn, artificial horizon goes nuts and it takes some time for it settles down. Kind of irritating. In this video, I will try to explain what is AHI drift, why it happens and how to fight with it. And admit that we do not yet know how to fix it for good.