"blamo! solved!   make sure to enable the mag option in the config file if you don't have your magnetometer soldered directly the the oilpan. and be sure the orientation matches your hardware.   rock and roll."

"...I have the same problem,  the heading overshoots where it should be when yawing. I've got the Sparkfun version. It worked perfect until recently, no way to tell at what point...changes are made before almost every flight...I really need…"