You could downgrade to an early version and use the compass learn. Or you can wait for 2.9.2, which has been rename 3.0. If you fly in the same general area you can set the compass once and use it many times.
For 2.9.1 (b), if you have compass learn off (as it is sugegsted in the forum by some people), then if you change your location Lat/Lon, then I believe yes, you need to recalibrate. You need to enter the new declination, if new position if further. Takes 20 sec.
Do a short flight in Loiter and see if keeps a good stabilization and head, before any auto.
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Which Arducopter release are you using?
For 2.9.1 (b), if you have compass learn off (as it is sugegsted in the forum by some people), then if you change your location Lat/Lon, then I believe yes, you need to recalibrate. You need to enter the new declination, if new position if further. Takes 20 sec.
Do a short flight in Loiter and see if keeps a good stabilization and head, before any auto.