Thanks, I checked advanced compass, everything is set according to the wiki, APM pointed left so autopilot configured as "yaw 270", external compass also pointed left so no yaw changes according to wiki as compass orientation is relative to the FC mounting. It is set "roll 180" but that is due to the GPS unit I have. The car works pretty well on auto missions and RTL (my other issue is with steering mode not seeming to want to work). My concern is that with everything set as mentioned and compass calibrated, Mission planner indicates the heading in the direction of the APM, like it isn't compensating for my settings. So if I aim the car north with a compass the compass heading indicates west. If I run a mission the GPS track points the correct way but the heading always points 90 degrees left of that. Is there a bug in Mission Planner or is there another issue? Some setting I missed?