I have an mRo Pixhawk x21 with a Holybro Ublox GPS module.
It has worked great running copter on a DJI f450.
At some point I switched to ardurover 4.0 for a boat project, and have since been experiencing the following when connected to mission planner:
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Compass is off by about roughly 100 degrees. i.e., when Pixhawk is pointed north, compass shows about 260. Compass and accelerometer were successfully calibrated multiple times
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While board orientation is standard, the pitch and roll axes are reversed, meaning pitch motion causes roll and roll motion causes pitch. Yaw seems ok.
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Getting ‘unhealthy ahrs’ warning. GPS lock is good.
I tried switching back to the latest copter release, reinstalling mission planner, resetting Pixhawk and reloading firmware multiple times, but problem persists.