Does the compass need to be calibrated necessarily with a gps fix?

[Alberto_Ds]

Hi Dave,
yes I also calibrated the compass with magfit but nothing seems to have changed. I’ve put logs here and I don’t think the lidar and sonar sensors are the problem (it happens even if I disable them). I’ve never had this happen to me in 7 years of ardupilot builds. While I was looking at the advanced settings of the compass in the wiki, I noticed that it is indicated to do the calibration of the accelerometer first and then that of the compass. When I moved the gps to the 3d printed support, I did NOT do the accelerometer calibration again. Could this be the problem?

Strange behavior in auto mode

Hi all, I have a particular configuration: copter 4" 21700 li ion arducopter 4.3.5 RC1 (kakute F4 CFW 1 MB), TFluna lidar as altimeter and sonar GY-US042v2 as obstacle avoidance (bendyruler active). The copter works well and the lidar and sonar do their job when the copter is in loiter. The problem becomes clear when I try a simple mission with 2 waypoints (taken in the field with AUX function). The copter seems to be heading correctly towards the first WP but suddenly it gains altitude and see…