sounds like you have had some bad experiences... take off and landing has been a breeze for me, very easy. regarding the jerky, either you have some bad setups or are just flying in rather turbulent air. and sure, servos are slower to respond then current motors, so a well tuned quad and out correct much of your turbulence issues. However, when I get my rather small wings above the turbulence from the wind going over the trees, the signal is very smooth. I am looking forward to trying out iNAV 3.0 on my FT Dart, as it has added D term as an option for fixed wings, so we will see how it does with that added and my digital servos running at 100hz.