On 3.2.1, I’m seeing EKF_FAILSAFE messages and the copter is switching from Auto to Land. Since USE_EKF is off, I assume these are actually DCM related errors(?). This occurred twice as the copter was turning around at the ends of flight lines. I’ve run the ‘Auto Analysis’ and gone through the Log Analysis guidelines in the wiki, but nothing is obvious to me as to the cause. It seems like the DCM algorithm is incorrectly assuming the navigation has failed, but it seems fine…? Switching out of Auto, then back, resumes the mission (was required twice.).