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I also saw extreme yaw drift on a new UM7 unit. It turned out that the estimation of gyro biases that was added in firmware U71D is good in theory, but apparently not very robust in actual use. I downgraded our sensor to firmware U71C and it now works fine again (after trying to make the sensor work with various settings on the newer firmware). I thus recommend downgrading and seeing if it fixes your issue.

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