Prearm error: Gyro inconsistent

Hi all, I am using Pixhawk 2.4.8 and Mission Planner v4.0.3. Initially I am facing an issue with
Prearm: EKF2 Yaw Inconsistent by XX angle. After awhile without doing anything - it started becoming:

Prearm: Gyro inconsistent

Here are the methods i have tried:

  1. recalibrating compass
  2. EK2_IMU_MASK to 1

Feel free to provide any solution below. Appreciate your help and thanks in advance!

Recalibrate the accelerometers. It fixes it.