EKF3 IMU1 & IMU0 emergency yaw reset --SITL

I am trying to perform SITL using Mission planner (way-points) and x plane 12 but i am facing issue regarding EKF3 emergency reset and plane is flying wayward. in the messages i am getting EKF3 emergency yaw reset, i tried different sources for solution but the problem is still persistent. I didn’t faced this issue with X PLANE 11. messages image form mission planner was attached can anyone help me with this issue.