Hello,
I issued quasi crash due to ekf yaw reset in flight
its pixhawk 6X with UM982 dual antenna gps.
also gps is receiving directly RTCM corrections from uhf.
all the flight is in gps status 6.
checking theses logs I don’t understand why AHR2 and DCM yaw estimation is far away all long with the gps yaw estiamation, and ATT yaw messages???
EK3_SRC_YAW is set to 2.
there is no compass inside used.
i followed exactly what is the wiki 
GPS for Yaw (aka Moving Baseline) — Copter documentation
there is something wrong?
I don not understant why AHR2+DCM yaw are not aligned with ATT yaw + gps yaw?
after checking logs this is due to gps glitch:
Also I check many log, and finally never AHR2/DCM get aligned with GPS YAW and ATT…
Why ?