Hi this video runs through downloading the new firmware, what the new features are and how to correctly configure your Phantom. Right at the end of the video I change the gains I forgot to press enter in the video for each one so they didn't save remember to do this if you are changing the gains that being said the default will work for a lot of people. If you have any questions please feel free to post in the comments.
This process is exactly the same for 4.0.2 and upwards.