COMPASS_LEARN versus MagFit results

I’ve spent some time trying to improve my compass calibrations - both by trying to reduce electrical interference and by doing better calibrations.

Presently, MavExplorer’s MagFit seems to do a pretty good job - except that occasionally it reports an offset that’s a bit outside of the ArduPilot range for that parameter.

I’m considering using the COMPASS_LEARN=2 option to use the EKF state estimator to update the offsets.

I’ve uploaded a report of my latest MagFit results, in case that’s helpful in offering advice. I’d appreciate any thoughts on using COMPASS_LEARN to automatically calibrate my compasses.