Here/Here+ GPS compass

ArduRover Rover 4.0
1

I use here/here+ GPS for Rover 4.0. I put CubeBlack in the metal box likes a control unit. This metal box may black compass.
the issue is:

  1. very hard to calibration GPS compass, even I turn GPS over 1 hour, it still can’t complete.
  2. once its calibration is finished and accepted by MP, when I choice it for primary company, turn the Rover, the head does not move follow GPS.
  3. if 2 compass are selected, one is GPS another is on CubeBlack, move CubeBlack, the head is following turning, but there is 70 degree difference,

How to use Here/Here+ GPS compass.