Pixhawk wrong directions

Hey all,I was building my F450 Quadcopter since the last days. Yesterday I tried to fly for the first time. Now, I have 2 Problems:1) The Copter is completely unstable in the Stabilize-Mode. It drifts right and left and up and down. I dont know why.2

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Compass Calibration Pixhawk

Hey guys, is there any way to look up whether the compass is calibrated correctly? Because my Copter with Pixhawk is flying Right wenn he should fly forward.

Thanks

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