GSF settings and operation

ArduCopter
,
1

I have a weirdly setup quad drone - with 2 IMUs and a GPS (no compass).
Flight controller is OmniF7v2.
One of the IMUs is hard mounted to the motors frame that is used to thrust vectoring (the normal quadcopter flight), and the other one should currently be ignored by Ardupilot and is not hard mounted to the motors frame.
I also have a GPS receiver, seated on the same body as the ignored IMU.

I’m trying to setup GSF flight, but i’m getting some errors and I want to be sure how to configure Ardupilot.
At the start of the flight I can see EKF3 IMU1 yaw aligned using GPS, but later i might receive GPS Glitch or compass error.

The ignored IMU is IMU1, the one being used is IMU2 (Ardupilot’s mapping).

Please have a look at the parameters file added, let me know what do you think.

2

We keep on getting these errors.
Although the flights seem to be OK, it is still alarming.

Here’s a log showing the messages and error we got:
link