EKF3 IMU0 emergency yaw reset on OSD

So this showed on my OSD but the quad continuing flying normally. I was making a slow left turn when the OSD heading jumped from 239 to 261 degrees. 14 Sats. No change in flight behavior.

From the black box I see nothing weird in the magnetic field. Could this be just a case of bad calibration? I did recalibrate when I switched from a 4S to a 3S battery

Is this normal or should I be worried?
Thanks!

23-04-2025.param (25.5 KB)

My flights for that day:
0- Using 4S lipo
1- Waited for GPS 3D lock then calibrated the compass via RC switch
2- Flew, did all kind of flips and roles then saved MagFit offsets


3- Switched to a 3S Li Ion
4- Waited for 3D GPS fix then calibrated the compass again and rebooted
5- A minute into flying the error happened.

The quad: 4" dead cat frame with the GPS at the back