APM 2.6 Firmware 2.14 to 3.21 issue

Hi

I have updated my firmware from 2.14 to 3.21 with APM planner and since I have done this every time I power up the amp runs through its checks, when finished the bottom left motor starts spinning quite fast. I have a 3DR Y6 B 3DR Compass and wireless telemetry config, all original 3DR hardware, if I downgrade the firmware back to 2.14 it then ok and flys great. I would like to use the position hold feature on 3.12. 

Has anyone else experienced this or know how to fix?

If you require any further info just let me know.

Thanks.

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