Can't load correct firmware on pixhawk

Could someone please help me.  I have a pixhawk knock off from HK.  My mission planner has never been upgraded to 3.3 firmware.  When I load 3.2.1 something is going wrong.  I do an auto tune and it does a yaw as if its 3.3.  The quad does all sorts of odd things when I fly it.  At startup I get bad prearm accelerometers then it goes away. When I take off it yaws about 3 degrees.   I tried reloading 3.2.1 twice.  Any suggestions?

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