I’ve been getting the bad compass message for a while, tried removing as much metal as I could within the proximity of the GPS. Comparing the heading to what I get off my phone looks pretty accurate and in flight the quad seems to maintain heading very well. Stumped and may just have to move the GPS board or swap out.
https://drive.google.com/file/d/1p-y34A-iDoXSNAGRNx7QeizQmpzvmgaF/view?usp=sharing