Mag Feild Issue

I maked my drone by the Aluminum…
the first flight was sucessfully… but after I changed the
WPNAV_SPEED_UP to 5 M/s. The copter acted madly
I checked from the Mag Feild it was between 1700 - 2000
and I saw many warnings message like EKF “variances” compass, position and velocity errors

Please send .bin file

Based on what your are describing, I would guess that your compasses are too close to your power distribution area or battery. I would try maybe disabling the internal compasses and moving the external compass a bit farther from the drone - via a longer gps stand or something.

Yes you are reight… I changed the AutoPilot and GPS Place away from PD and the issue was solved