"I too would say make sure to reset the pids in case they were messed up at all..
 
My quad was flipping over despite my knowledge that all the motors/props/etc were correct.. Turned out the pids were off causing it to be uncontrollable and tipping…"

"Interesting, I will try the compass calibration again.. Isn't it odd though that with EKF Off the compass is 100% accurate, and doing nothing except enabling the EKF that the compass becomes 160 degrees off..  I would think if the offset was bad it…"

"Just got 3.2 rc2 loaded on my pixhawk quad and noticed something curious. 

Just testing on the bench, never armed and took off, but I set EKF to channel 8 and toggled it while monitoring in Mission Planner.  With EKF off, the compass heading was…"