Regarding the setting of the parameter MAG_CAL = 5, it affects the radio and GCS links

ArduCopter
1

I am testing ekf3 using external yaw data, I set the parameter MAG_CAL = 5, my radio link rate quickly drops to 10%, I set the parameter MAG_CAL = 2, everything is OK, why is this?

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2e5f58c4eacee6e50c6aeb41254645c1440×1080 170 KB

This is my log file:https://send.firefox.com/download/b6839da5a624319c/#73nrDDt7_Przoia25Y3Zcg