Does anyone know if the compass is used when flying in ppti? I made some inside flights today, and the compass value was around 5500 on the ground, and the I1 didnt let me arm. I made a pile of pallets tall enough to let me get far enought away from the rebarred floor to arm it and went for a flight, It was in incredibly tight spaces and with a lot of obstacles, so I took it very easy and never raised the gear ( wasnt flying fast enough to see the props, and always slightly angled down anyway). I was ready to drop her to the floor at a moments notice the whole day. I made around 20 flights, All from an elevated position. On several ocassions the cuad yawed quite a bit, so i pulled out of that area and got it back under control. The annoying thing is that looking back over the video, there are a lot of yaw glitches on the gimbal. I assume from shitty magnetometer readings at the time.. I guess ATTI doenst use the compass or the visual positioning?