4.0.5 GPS for yaw

How to use HDT data to provide aircraft heading,Now I can’t disable the compass when using HDT data

Update to latest stable.

Too much work to update to 4.2.2

Then you will likely continue struggling with moving baseline. While it was made available in Copter 4.0, there have been MANY improvements since, and I would consider it almost a beta feature in the firmware you are using.

Pick your battles. Updating may be less trouble than struggling with old feature versions.

thank you my friend! :smiley: :smiley: