Weird Compass/Controller Issues- Pixhawk Quad Yaws in circles after takeoff/randomly spins


I have an issue with a new quad running Pixhawk.

Upon taking off this morning, the quad immediately started to yaw in circles while hovering. The yawing stopped after roughly 10-15 seconds and then flew perfectly. I have noticed in one prior flight that the copter decided to do a 180 about face by itself. This must be a calibration/compass issue, as the log suggests.

Any ideas? I calibrated inside my home, so could that be it? Controller issue?

The logs will show you how crazy it went. When it stopped, it flew picture perfect thereafter.

Here is a video  of my setup and flight this morning (disregard the battery failsafe sound, it was way too conservative).

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