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"EKF Primary changed" galore - why?

Hi,

I have tuned my little project into more or less acceptable shape. it flies well now, but on the test today, during circel mode it suddenly issued a swarm of EKF change messages. visually it did not affect flight at all, but i am curious - what are the factors that drive this scenario?

Screenshot below shows how circle mode started at mark 46 or so and was happy until mark 59 and then close to mark 60 it started that EKF non-sense. why?

https://drive.google.com/file/d/1TdbgJubDGJdPNPHg8qvJTM7k4GE2U8r1/view?usp=sharing

Any reason you are not using the external compass? The offsets on the compass you are using (compass 2) are a bit high. I typically disable the internal compass’s on a Multirotor but that depends on the hardware configuration.

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