@ardisd Hi David,
Sorry it took me so long to get back to you. I was able to enlist @tridge help on this. He went through quite a bit of different things to figure out the issue. Here is what he thought could be the issue
Poor quality power being supplied to the board
RF interference from an antenna ( you could remove any antennas and see if the problem goes away)
Wiring to GPS causing a problem on I2C (if there is a long wire run to the GPS, you could use a shorter wire and temporarily move the GPS and install the GPS closer and see if the problem goes away)
Looking at the errors, both the compass and baro errors were occurring at exactly the same time which leads us to think it is a communication problem
he asked whether you could reproduce the problem on the bench using a LOG_DISARMED set to 1 and fast logging.
The other thing he suggested was seeing if you saw a similar problem if you put the same set up on another matek same model board. If you could reproduce the problem that way then it could be a board issue.
Along the lines of the problem being an I2C problem, he wondered if you installed a pull up on the I2C. He said that the directions on how to do it are provided by the manufacturer.
Sorry about the uncertainty of the diagnosis but there wasn’t any data that could point us to conclude on what the issue is.
Again I apologize for taking so long to get back to you.