Rover without direction, spinning without stopping

I have a rover with the last version Ardurover v.3.4.2, before I was with problem of the compass that was giving error all the time, differing from yaw, after much insistence and deactivating the external compass now I solved the problem, I do not know if it is Problem with the external or the pixhawk, but now with everything right in the clipping, the rover when entering AUTO or RTL is spinning without stopping, doubt, is a problem of direction or some direction, if someone can help thanks.

In the latest version of the mission planner, for ardurover I can not find the live calibration option, just for plane, copter etc, but not pro rover, only in the MP 35 version.