You can view the offset value of the compass on the ground station; in this case, the length of offsets is greater than the offset limit value. offset.length = sqrt (offset.x * offset.x + offset.y * offset.y + offset.z * offset.z). Offset was calculated at the compass calibration stage. Offset is too high; there may be the static magnetic field of the external material, sensor ratio error, sensor sensitivity error. You can increase the offset limit value, the UAV can be armed, and its flight in the manual mode is not affected.