Yesterday we had a strange behavior. We have upgraded one of our drone from 4.0.7 to 4.1.1 (as another is already flying this firmware without issue).
Then we made a test flight, and after EKF3 imu1 in-flight yaw alignment message the copter automatically yaw about 20°.
We did not make compass calibration, that’s the next step, but is that a must? the only difference is we use here3 on this drone…