3.5 EKF2 IMU switching compass and going into LAND mode while in AUTO mode. “Err: EKF_CHECK-2, Err: FAILSAFE_EKF-1” error

copter 3.5 auto mode fly,auto into land when takeoff
EKF2 IMU switching compass and
going into LAND mode while in AUTO mode.
“Err: EKF_CHECK-2, Err: FAILSAFE_EKF-1” error2017-09-16 01-19-18.bin (646.4 KB)