EKF3 keep switching LANE

while flying i keep getting EKF3 lane switching .

what is the reason?

How are we supposed to guess what the reason is, if you do not post a .bin log file?

sorry for not attached log…here is the log

You will note that those occurrences coincide with a Yaw Reset so it could be a compass interference issue. There seems to be a bit of coupling between throttle and mag field.

Increase the distance from the compasses to the rest of the electronics. In other words use longer GPS masts.