I didnt find the chance to do the auto tuning yet, tho i did use the initial parameters calculator and it was flying good with the exact same setup. I will do the Auto Tune at the first chance i can but i dont think this is the source of the problem.
That yellow line in the graph should be flat. The second compass (mag1) isn’t having the same problem. You might want to clean up some of the wiring and see if that helps. You could try to set up COMPASS_MOT. Advanced Compass Setup — Copter documentation You may also need to disable the internal compass.