Info on compass fallback

I have been reading discussions about the compass fallback option when using the gps for yaw function, and how are things with the fallback?

I saw some problems been discussed by @rmackay9 and @Hacky, but I don’t know if there were any update with release of beta3.

If I am not mistaken, currently the autopilot will only fallback to compass if the gps for yaw as used at least one time, like if you start you setup indoor where the gps can’t go to rtk fix and attain gps for yaw, it won’t fallback to compass.