I had the same problem.
Check your GPS satellite links. It should be more than 10+ in order to disappear BAD AHRS + make sure GPS cable not close to other signals and power lines.
For compass: Try to calibrate in default or relax mode ( make sure GPS/compass is far from power lines at least 10cm+. Ones calibrated check if it showing right direction and calibrate again instrict mode if you want better direction.( i use strict mode and never had any issues)