My Iris+ is still recovering from a serious failure where it plummeted 50m onto rocks on a coastal reef back in September 2015. Three of the four arms were broken as well as top and bottom shell, motors, props, legs, FRsky receiver and other bits including broken tracks on the Pixhawk giving it intermittent motor signals.

Since then I have repaired what was obvious but there is still a problem with the compass. I can recalibrate compasses but get the "Compass Variation Error". I also notice that the yaw reading creeps slowly but continually when the craft is just sitting on my desk not moving. I have seen mention of this in previous posts but am having trouble finding a solution. I have not dared to fly my Iris in this condition.

I have replaced the GPS/compass with a new Ublox NEO-M8N GPS and mounted it on top. The copper shield is no longer so firmly stuck down and my receiver antenna and other wires may be in different locations but everything is now in place and should be functioning. I am temporally using an Unmanned Hawk in place of the faulty 3DR Pixhawk but this has been working on another UAV.

Does anyone know of a solution to this issue?

David Tipping