I had a flight that was going fine for a while and then the craft started to circle around. Typical behavior with a bad mag/compass calibration. What I am confused about is that the ATT.Yaw and AHR2.Yaw values diverge from each other - for a while they look like they are going in opposite directions. If I am understanding things correctly the system is using ATT.Yaw for navigation. However, I believe in this case that AHR2.Yaw was actually correct.
The plot below shows the two yaw values. Everything was ok until they got pretty far apart. I understand the impact a bad mag cal can have - but am confused about the two yaw calculations going different directions. Any help is greatly appreciated.
The bin log is here: