Compass Unhealthy on Pixhawk2 Here+ GPS

Hi, 

I've been using Pixhawk for several years, so far so good. But just at the end of last year I wanted to try out the Cube (pixhawk 2) with the Here+ RTK GPS set. 

Made a couple of successfull flights until one test that failed, aparently this was the cause of the error: 
EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE

Still don't know the cause of  the problem and how to prevent from happening in the future. Any advice will be highly appreciated. 

Flight LOG: 

Thanks, FQ. 

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