Can't figure out compass variance error during max yaw

I’m getting a compass variance error when I yaw at max speed for about 15 seconds or more. If i have internal compasses active, copter constantly switches compasses until power off (attached log), else it just gives error message and continues flying normally.

If I add full pitch/roll during max yaw for at least 15 seconds, I’ll get a gps glitch and lose control of copter unless I switch to stabilize, and position hold won’t act normal until power cycle.

Can anyone point me in a direction to solve this? It is occurring with my changes to EK2 parameters and with default EK2 parameters, no difference.

log here