Internal errors 0x1000 and 0x3000

Hi all,

I have a big boat with Pixhawk 2.4.8 with Rover-beta-fmuv3 versión.

Everithing Works fine but sometimes I got a message Internal error 0x1000 or 0x3000 and the system
works bad (motors spin a full, etc) and I need to power-reset de system.

I am not sure what happends but maybe the problem could be about the compass because the boat in misión planner is not in the real orientation. I can not calibrate the compass on board because it is so heavy but I tried to adjust via “Large Vehicle MAg Cal” button putting the orientation with an auxiliary compass
and the orientation in static position turn to the correct one, but in navigation it is not ok ( not follow to the real one).

So I am not sure what is the problema because the voltaje is ok, the mag field is around 435, the GPS Works fine and sometimes I can sail in manual mode ok…sometimes apear the errors…

Any ideas?

parametros_30072020_San Mateo_doble_bateria.param (14.1 KB)

2020-07-28 12-33-31.bin (1020 KB)