(This is for Adam and Andrew) Setup: APM 2.0, 3DR quad, ~ 1300-1650grams (depending on payload and battery), 750kv motors, 11x4.7 SF props, 3s, v2.5.3 1)  Log file of mag and yaw difference using tlog method of mag calibration 2) tlog file used for calibration 3) log file of flight with nominal mag and yaw difference (live data method for calibration See the difference?  Maybe just a bad tlog? …