"This bad compass issue seems to be popping up all over the place, mine included.
One question: are you running the 3DR current sensor, and if so is it the only power to the APM or are you running a BEC as well.
Just trying to collect information…"
"If you plot the Thr_in to Thr_out it starts to diverge about where the wild pitch starts.
Then the thr_out goes to max as your altitude goes down.
So to me, and I am no expert, it looks like a classic motor or esc failure."
Although I did see some response lately that it may be broken.
Have not tried this since 'b' came out, so you will need to double check the function is not broken, but it is there and this is the intended use.
Also be sure you set the…"