Hi @SweUSV -
It’s tough to advise sight unseen! You may have flow restrictions around your propulsion that is impacting things?
I assume you need nmea to get GPS in your logs so you can calibrate you compass? Only a calibrated compass is required for acro mode…
A M500 motor should be considerably more efficient than the M200, however the props are likely very poorly optimized for your application from the sound of it. RCtestflight’s series of videos on prop testing mentions some great tools for prop design using onshape: https://youtu.be/KeTh-TIhL9M?si=2jRMuNnFJzq0nUy4