"ek3" and "gps yaw sensor" initialization issue

Hello,

i used GPS yaw sensor with arducopter, and had issue on ek3 yaw initialization. Usually YAW value can aligned with gps yaw sensor quickly while power on, but sometimes NOT, it may become slow, or yaw value continual increase.

if the situation appered, i need to move the copter and force ek3 algorithm initial again.
any idea to improve it?

thanks.

please watch the video:

0:11 reboot pixhawk
0:48 mavlink connected
0:49 get “error conpass variance”
2:18 yaw value aligned with gps yaw sensor
2:24 ARMED and flight on loiter mode

here are my setup:
AHRS_EKF_TYPE = 3
EK2_ENABLE = 0
EK3_ENABLE = 1
EK3_MAG_CAL = 5
COMPASS_ENABLE = 0

hi , try setting Ek3_mag_cal and Ek3_src1_yaw=2 (this should solve error compass variance ) , and can you describe how you have made connection between gps1 , gps2 with flight controller ?
try to remove i2c line just connect gps1&2 rx and tx alone

hello emma

thanks for the reply, i’ll try later.

and here is my hardware setup, this moudle combine RTK and moving base function.
image1