PX4-Autopilot: Keep getting EKF High Bias error

Log is here: https://review.px4.io/plot_app?log=0e28f7f8-65c7-44c2-a8ff-fcdbd2ca2c4b

I was getting this intermittently both inside and outside at boot. I tried recalibrating outside. No difference. Recalibrating inside,. no difference. It’s raining now so I can’t go outside and I can’t seem to make it happen any longer inside.

I’m running a modified master on a new hexacopter+. The modifications are due to running an old pixhawk but I need new mag support. Don’t know if that is affecting things since I can run regular master on this vehcle:

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 7cac355f2..041f4afc0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -76,6 +76,8 @@ then
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
+ ist8310 -C -b 1 start
+ ist8310 -C -b 2 start

# Internal I2C bus
hmc5883 -C -T -I -R 4 start
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 369fc5568..9838b5251 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -31,6 +31,7 @@ set(config_module_list
drivers/imu/lsm303d
drivers/magnetometer/hmc5883
drivers/magnetometer/lis3mdl
+ drivers/magnetometer/ist8310
#drivers/mb12xx
#drivers/mkblctrl
drivers/imu/mpu6000
@@ -39,7 +40,7 @@ set(config_module_list
#drivers/protocol_splitter
drivers/pwm_input
#drivers/pwm_out_sim
- drivers/px4flow
+ #drivers/px4flow
drivers/px4fmu
drivers/px4io
drivers/rgbled
@@ -50,14 +51,14 @@ set(config_module_list
drivers/vmount

# distance sensors
- drivers/distance_sensor/ll40ls
- drivers/distance_sensor/mb12xx
- drivers/distance_sensor/sf0x
- drivers/distance_sensor/sf1xx
- drivers/distance_sensor/srf02
- drivers/distance_sensor/srf02_i2c
- drivers/distance_sensor/teraranger
- drivers/distance_sensor/tfmini
+ #drivers/distance_sensor/ll40ls
+ #drivers/distance_sensor/mb12xx
+ #drivers/distance_sensor/sf0x
+ #drivers/distance_sensor/sf1xx
+ #drivers/distance_sensor/srf02
+ #drivers/distance_sensor/srf02_i2c
+ #drivers/distance_sensor/teraranger
+ #drivers/distance_sensor/tfmini
#drivers/distance_sensor/ulanding
modules/sensors