I have an upgraded Iris to Iris+ and have been successfully flying for a few weeks now. I updated MP to 1.3.24 and have AC V3.2.1 installed. I have seen reference in this forum that when calibrating the compass a solid sphere should be created with points. When calibrating the compass in MP, I select "Compass". If I select "Pixhawk/PX4" I can create relatively solid spheres but always receive an "Unexpected error" message. If I select "Manual" I never have enough time to create anything close to a solid sphere. What am I doing wrong?