I was doing a flight mission today, with circle flight lines(for some purpose), copter flew in circle and also rotated by itself, like Earth rotates itself while moving around the sun. The copter completed the mission well, then it went back to home point and started to land, but with the decrease of altitude it started to move around again(not been set in mission), usually it flys around if there is compass error, but in the log it seems compass data is all right, somebody help me to find the reason, please.
COMPASS_AUTODEC is disabled, which is no good, especially since you did not configure COMPASS_DEC
enable, reboot, fly… assuming your calibration is good.