If you are unsure about compensations, you can post a video of how the swashplate is reacting when you are moving with the model - elevator and aileron axis. Just one direction is enough for verification.

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Spirit System developer

I have no issue with the sensors compensating in the correct directions. Everything is fine with them, the only issue was the swash sticking when having rpm on the head. I assumed this would flip the heli over... it would do on my other flybarless systems. I always check my swash and tail compensation at the beginning of my first flight of the day and this is why im struggling to understand why this heli flipped over. I am more than comfortable controlling any flybarless system even on the ground It just goes to show you that even with the 20+ years of modelling/flying experience that i have got and i can still get caught out with an issue

This will flip the heli over, but not when you are flying, because model will react to the movement.

You can try it by hand - just tilt the model and you will see the swashplate will be level again at some inclination of the model.
But if it is level during lift off, it will not tilt the model anywhere.

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Spirit System developer

I have now confirmed this on another friends helicopter (this time with a spirit onboard ) - https://www.youtube.com/watch?v=ZDe6g6e2xew&t=5s

Vortex Fbl acts different - https://www.youtube.com/watch?v=k7OGT99YFtI

Yes, we know it is correct.
Thousands of pilots around the globe are fine with this too for many years already.
No need to tinker with anything that is correct

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Spirit System developer