I’ve already posted below viewtopic.php?f=100&t=9981&p=24419& but as it’s marked as solved, I think no one notes 
So I’m opening another thread here, hoping this is ok.
Copied over:
Today I updated to RC13 and resetted all parameters using the Terminal>setup>reset.
Then I calibrated everything again: RC, then Compass and then Accel. After that it looked ok for some seconds. The APM Planner said “Out of disparity” showing an alt disparity error in its display.
Then after some more seconds it went back to the “compass not calibrated” again. 
On a side note: The compass I’m using is a Crius board.
Those seem to have their compass front-to-back. Meaning that I compared it to a “Crius AIPO v2” board some months ago, noting that when I line up both compasses the same way and then rotating the board to its supposed orientation (arrow at the top, pointing to the front), I needed to set “Pitch 180” instead of “Roll 180” because it was “Roll 180 + Yaw 180”… Hope you’ll get it.
Though as far as I can tell the Pixhawk should not depend on this, right? And it worked fine with the 3.2-RC5 before.
#NOTE: 10/25/2014 10:46:21 VORM.:
ACRO_BAL_PITCH,1.00000000
ACRO_BAL_ROLL,1.00000000
ACRO_EXPO,0.30000001
ACRO_RP_P,4.50000000
ACRO_TRAINER,2
ACRO_YAW_P,4.50000000
AHRS_COMP_BETA,0.10000000
AHRS_EKF_USE,0
AHRS_GPS_GAIN,1.00000000
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.10000000
AHRS_TRIM_X,0.00000000
AHRS_TRIM_Y,0.00000000
AHRS_TRIM_Z,0.00000000
AHRS_WIND_MAX,0
AHRS_YAW_P,0.10000000
ANGLE_MAX,4500
ARMING_CHECK,1
ATC_ACCEL_RP_MAX,0.00000000
ATC_ACCEL_Y_MAX,0.00000000
ATC_RATE_FF_ENAB,0
ATC_RATE_RP_MAX,18000.00000000
ATC_RATE_Y_MAX,9000.00000000
ATC_SLEW_YAW,1000.00000000
BAROGLTCH_ACCEL,1500.00000000
BAROGLTCH_DIST,500.00000000
BAROGLTCH_ENABLE,1
BATT_AMP_OFFSET,0.00000000
BATT_AMP_PERVOLT,17.00000000
BATT_CAPACITY,3300
BATT_CURR_PIN,3
BATT_MONITOR,0
BATT_VOLT2_MULT,1.00000000
BATT_VOLT2_PIN,-1
BATT_VOLT_MULT,10.10000038
BATT_VOLT_PIN,2
BRD_PWM_COUNT,4
BRD_SAFETYENABLE,1
BRD_SER1_RTSCTS,2
BRD_SER2_RTSCTS,2
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0.00000000
CAM_TRIGG_TYPE,0
CH7_OPT,0
CH8_OPT,0
CHUTE_ALT_MIN,10
CHUTE_ENABLED,0
CHUTE_SERVO_OFF,1100
CHUTE_SERVO_ON,1300
CHUTE_TYPE,0
CIRCLE_RADIUS,1000.00000000
CIRCLE_RATE,20.00000000
COMPASS_AUTODEC,1
COMPASS_DEC,0.00000000
COMPASS_DEV_ID,73225
COMPASS_DEV_ID2,131594
COMPASS_DEV_ID3,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT2_X,0.00000000
COMPASS_MOT2_Y,0.00000000
COMPASS_MOT2_Z,0.00000000
COMPASS_MOT3_X,0.00000000
COMPASS_MOT3_Y,0.00000000
COMPASS_MOT3_Z,0.00000000
COMPASS_MOTCT,0
COMPASS_MOT_X,0.00000000
COMPASS_MOT_Y,0.00000000
COMPASS_MOT_Z,0.00000000
COMPASS_OFS2_X,-373.58071899
COMPASS_OFS2_Y,-103.87632751
COMPASS_OFS2_Z,184.83677673
COMPASS_OFS3_X,0.00000000
COMPASS_OFS3_Y,0.00000000
COMPASS_OFS3_Z,0.00000000
COMPASS_OFS_X,-141.41308594
COMPASS_OFS_Y,-37.81682205
COMPASS_OFS_Z,-41.05358887
COMPASS_ORIENT,0
COMPASS_PRIMARY,0
COMPASS_USE,1
DCM_CHECK_THRESH,0.80000001
EKF_ABIAS_PNOISE,0.00010000
EKF_ACC_PNOISE,0.25000000
EKF_ALT_NOISE,1.00000000
EKF_CHECK_THRESH,0.80000001
EKF_EAS_GATE,10
EKF_EAS_NOISE,1.39999998
EKF_GBIAS_PNOISE,0.00000100
EKF_GLITCH_ACCEL,150
EKF_GLITCH_RAD,15
EKF_GPS_TYPE,0
EKF_GYRO_PNOISE,0.01500000
EKF_HGT_GATE,10
EKF_MAGB_PNOISE,0.00030000
EKF_MAGE_PNOISE,0.00030000
EKF_MAG_CAL,1
EKF_MAG_GATE,3
EKF_MAG_NOISE,0.05000000
EKF_POSNE_NOISE,0.50000000
EKF_POS_DELAY,220
EKF_POS_GATE,10
EKF_VELD_NOISE,0.69999999
EKF_VELNE_NOISE,0.50000000
EKF_VEL_DELAY,220
EKF_VEL_GATE,6
EKF_WIND_PNOISE,0.10000000
EKF_WIND_PSCALE,0.50000000
ESC,0
FENCE_ACTION,1
FENCE_ALT_MAX,100.00000000
FENCE_ENABLE,0
FENCE_MARGIN,2.00000000
FENCE_RADIUS,300.00000000
FENCE_TYPE,3
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,0
FLTMODE3,0
FLTMODE4,0
FLTMODE5,0
FLTMODE6,0
FRAME,1
FS_BATT_ENABLE,0
FS_BATT_MAH,0.00000000
FS_BATT_VOLTAGE,10.50000000
FS_GCS_ENABLE,1
FS_GPS_ENABLE,1
FS_THR_ENABLE,0
FS_THR_VALUE,975
GND_ABS_PRESS,100585.35937500
GND_ALT_OFFSET,0
GND_TEMP,29.31474113
GPSGLITCH_ACCEL,1000.00000000
GPSGLITCH_ENABLE,1
GPSGLITCH_RADIUS,200.00000000
GPS_AUTO_SWITCH,1
GPS_HDOP_GOOD,200
GPS_MIN_DGPS,100
GPS_NAVFILTER,8
GPS_TYPE,1
GPS_TYPE2,0
HLD_LAT_P,1.00000000
INAV_TC_XY,2.50000000
INAV_TC_Z,5.00000000
INS_ACC2OFFS_X,0.00000000
INS_ACC2OFFS_Y,0.00000000
INS_ACC2OFFS_Z,0.00000000
INS_ACC2SCAL_X,1.00000000
INS_ACC2SCAL_Y,1.00000000
INS_ACC2SCAL_Z,1.00000000
INS_ACC3OFFS_X,0.00000000
INS_ACC3OFFS_Y,0.00000000
INS_ACC3OFFS_Z,0.00000000
INS_ACC3SCAL_X,0.00000000
INS_ACC3SCAL_Y,0.00000000
INS_ACC3SCAL_Z,0.00000000
INS_ACCOFFS_X,0.00000000
INS_ACCOFFS_Y,0.00000000
INS_ACCOFFS_Z,0.00000000
INS_ACCSCAL_X,1.00000000
INS_ACCSCAL_Y,1.00000000
INS_ACCSCAL_Z,1.00000000
INS_GYR2OFFS_X,0.00402600
INS_GYR2OFFS_Y,0.00566456
INS_GYR2OFFS_Z,-0.00621415
INS_GYR3OFFS_X,0.00000000
INS_GYR3OFFS_Y,0.00000000
INS_GYR3OFFS_Z,0.00000000
INS_GYROFFS_X,0.00896986
INS_GYROFFS_Y,0.07565905
INS_GYROFFS_Z,0.00413382
INS_MPU6K_FILTER,0
INS_PRODUCT_ID,5
LAND_REPOSITION,1
LAND_SPEED,50
LOG_BITMASK,43006
LOITER_LAT_D,0.00000000
LOITER_LAT_I,0.50000000
LOITER_LAT_IMAX,1000
LOITER_LAT_P,1.00000000
LOITER_LON_D,0.00000000
LOITER_LON_I,0.50000000
LOITER_LON_IMAX,1000
LOITER_LON_P,1.00000000
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_CONTROL_X,0.00000000
MNT_CONTROL_Y,0.00000000
MNT_CONTROL_Z,0.00000000
MNT_JSTICK_SPD,0
MNT_MODE,0
MNT_NEUTRAL_X,0.00000000
MNT_NEUTRAL_Y,0.00000000
MNT_NEUTRAL_Z,0.00000000
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0.00000000
MNT_RETRACT_Y,0.00000000
MNT_RETRACT_Z,0.00000000
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MOT_SPIN_ARMED,70
MOT_TCRV_ENABLE,1
MOT_TCRV_MAXPCT,93
MOT_TCRV_MIDPCT,52
OF_PIT_D,0.12000000
OF_PIT_I,0.50000000
OF_PIT_IMAX,100
OF_PIT_P,2.50000000
OF_RLL_D,0.12000000
OF_RLL_I,0.50000000
OF_RLL_IMAX,100
OF_RLL_P,2.50000000
PHLD_BRAKE_ANGLE,3000
PHLD_BRAKE_RATE,8
PILOT_ACCEL_Z,250
PILOT_VELZ_MAX,250
POSCON_THR_HOVER,450.00000000
RALLY_LIMIT_KM,2.00000000
RALLY_TOTAL,0
RATE_PIT_D,0.00400000
RATE_PIT_I,0.10000000
RATE_PIT_IMAX,1000
RATE_PIT_P,0.15000001
RATE_RLL_D,0.00400000
RATE_RLL_I,0.10000000
RATE_RLL_IMAX,1000
RATE_RLL_P,0.15000001
RATE_YAW_D,0.00000000
RATE_YAW_I,0.02000000
RATE_YAW_IMAX,1000
RATE_YAW_P,0.20000000
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC12_DZ,0
RC12_FUNCTION,0
RC12_MAX,1900
RC12_MIN,1100
RC12_REV,1
RC12_TRIM,1500
RC13_DZ,0
RC13_FUNCTION,0
RC13_MAX,1900
RC13_MIN,1100
RC13_REV,1
RC13_TRIM,1500
RC14_DZ,0
RC14_FUNCTION,0
RC14_MAX,1900
RC14_MIN,1100
RC14_REV,1
RC14_TRIM,1500
RC1_DZ,30
RC1_MAX,1920
RC1_MIN,1125
RC1_REV,1
RC1_TRIM,1500
RC2_DZ,30
RC2_MAX,1918
RC2_MIN,1124
RC2_REV,1
RC2_TRIM,1500
RC3_DZ,30
RC3_MAX,1921
RC3_MIN,1123
RC3_REV,1
RC3_TRIM,1500
RC4_DZ,40
RC4_MAX,1841
RC4_MIN,1208
RC4_REV,1
RC4_TRIM,1500
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1921
RC5_MIN,1123
RC5_REV,1
RC5_TRIM,1500
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1920
RC6_MIN,1123
RC6_REV,1
RC6_TRIM,1500
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1920
RC7_MIN,1122
RC7_REV,1
RC7_TRIM,1500
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1919
RC8_MIN,1123
RC8_REV,1
RC8_TRIM,1500
RC9_DZ,0
RC9_FUNCTION,0
RC9_MAX,1900
RC9_MIN,1100
RC9_REV,1
RC9_TRIM,1500
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RC_FEEL_RP,100
RC_SPEED,490
RELAY_PIN,54
RELAY_PIN2,-1
RNGFND_FUNCTION,0
RNGFND_GAIN,0.80000001
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0.00000000
RNGFND_PIN,-1
RNGFND_RMETRIC,1
RNGFND_SCALING,3.00000000
RNGFND_SETTLE_MS,0
RNGFND_STOP_PIN,-1
RNGFND_TYPE,0
RSSI_PIN,-1
RSSI_RANGE,5.00000000
RTL_ALT,1500
RTL_ALT_FINAL,0
RTL_LOIT_TIME,5000
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,1
SIMPLE,0
SR0_EXTRA1,0
SR0_EXTRA2,0
SR0_EXTRA3,0
SR0_EXT_STAT,0
SR0_PARAMS,0
SR0_POSITION,0
SR0_RAW_CTRL,0
SR0_RAW_SENS,0
SR0_RC_CHAN,0
SR1_EXTRA1,0
SR1_EXTRA2,0
SR1_EXTRA3,0
SR1_EXT_STAT,0
SR1_PARAMS,0
SR1_POSITION,0
SR1_RAW_CTRL,0
SR1_RAW_SENS,0
SR1_RC_CHAN,0
SR2_EXTRA1,10
SR2_EXTRA2,10
SR2_EXTRA3,2
SR2_EXT_STAT,2
SR2_PARAMS,10
SR2_POSITION,3
SR2_RAW_CTRL,0
SR2_RAW_SENS,2
SR2_RC_CHAN,2
STB_PIT_P,4.50000000
STB_RLL_P,4.50000000
STB_YAW_P,4.50000000
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
TERRAIN_ENABLE,1
TERRAIN_SPACING,100
THR_ACCEL_D,0.00000000
THR_ACCEL_I,1.00000000
THR_ACCEL_IMAX,800
THR_ACCEL_P,0.50000000
THR_ALT_P,1.00000000
THR_DZ,100
THR_MAX,1000
THR_MID,500
THR_MIN,130
THR_RATE_P,5.00000000
TRIM_THROTTLE,450
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
WPNAV_ACCEL,100.00000000
WPNAV_ACCEL_Z,100.00000000
WPNAV_LOIT_JERK,1000.00000000
WPNAV_LOIT_SPEED,500.00000000
WPNAV_RADIUS,200.00000000
WPNAV_SPEED,500.00000000
WPNAV_SPEED_DN,150.00000000
WPNAV_SPEED_UP,250.00000000
WP_YAW_BEHAVIOR,2