MAG0 ground mag anomaly, YAW -Realigned

@philip

Need Help !!
COPTER STARTED BEHAVING VIOLENTLY…

Just saved from a crash

EKF3 IMU0 MAG0 ground mag anomaly, YAW -Realigned
EKF3 IMU1 MAG0 ground mag anomaly, YAW -Realigned
EKF3 IMU2 MAG0 ground mag anomaly, YAW -Realigned
Log file :

https://drive.google.com/drive/folders/1XituHLgmXMXvgQ9hqKVUtU8Wzl3uTLwA

PS: CUBE ORANGE FLIGHT CONTROLLER WITH KORE CARRIER BOARD AND TWO HERE3 GPS’S

I have the same issue! Can everyone help me solve this problem?

This problem is not yet solved even in the 4.x.x. version of arducopter.

Have you checked things like vibration, compass tuning and autotune?