what is goes on? https://youtu.be/ZTOltGmWjzI
gyro almost 0, accel is steady - but AHRS fully crazy
That can happen if there’s a hardware failure or maybe after an accelerometer calibration.
Please see this video attentively: you can see that gyros are near 0 and accels in steady position so this is really EKF issue. Hardware is good and yes, this sometimes happens after accel calibration.
The problem is that as soon as it happened no further calibration is useless, it is necessary to reset all settings.