Hi,
I would like to share with you my last investigation about the "compasses inconsistent" problem.
It is due to bad orientation of the external compass (one in the leg). There is another one inside the cube which is correctly oriented however differences between them are too big. The problem is in the wrong parameter COMPASS_ORIENT = 38 (meaning Yaw293Pitch68Roll180). Yaw and Pitch looks pretty good but Roll should be 90 instead of 180.
To fix this you should change those parameters:
COMPASS_AUTO_ROT = 0 {avoiding auto change of orientation after compass calibration}
COMPASS_ORIENT = 101 {this is custom orientation for firmware versions 4.2 and later, otherwise use 100}
CUST_ROT_ENABLE = 1
CUST_ROT1_PITCH = 68
CUST_ROT1_ROLL = 90
CUST_ROT1_YAW = 293
Please make sure that your external compass has COMPASS_PRIO1_ID and internal COMPASS_PRIO2_ID. You can check it in Mission Planner:

You can check mx my mz value, should be similar for both compasses:

I hope this will help at least one person
bajba
I would like to share with you my last investigation about the "compasses inconsistent" problem.
It is due to bad orientation of the external compass (one in the leg). There is another one inside the cube which is correctly oriented however differences between them are too big. The problem is in the wrong parameter COMPASS_ORIENT = 38 (meaning Yaw293Pitch68Roll180). Yaw and Pitch looks pretty good but Roll should be 90 instead of 180.
To fix this you should change those parameters:
COMPASS_AUTO_ROT = 0 {avoiding auto change of orientation after compass calibration}
COMPASS_ORIENT = 101 {this is custom orientation for firmware versions 4.2 and later, otherwise use 100}
CUST_ROT_ENABLE = 1
CUST_ROT1_PITCH = 68
CUST_ROT1_ROLL = 90
CUST_ROT1_YAW = 293
Please make sure that your external compass has COMPASS_PRIO1_ID and internal COMPASS_PRIO2_ID. You can check it in Mission Planner:

You can check mx my mz value, should be similar for both compasses:

I hope this will help at least one person

bajba