Has anybody had the experience with a fly-away on v3.9, when there is a compass problem? I tried RTL and my plane flew in the wrong direction, even with a good GPS lock, and I was unable to recover because it went out of range of my transmitter before I could switch to manual. Plane GONE! Have no idea where it went. Shouldn't EKF realize the plane was going the wrong way and drop the compass? I thought that was the entire point of EKF. Bad inputs are ignored. It should be pretty obvious if the plane is GOING AWAY from the home position and make an adjustment to it's flight path and ignore the compass. Any ideas? Unfortunately, I don't have a log - plane is probably sitting in a field somewhere when the battery died.