@linmur02 When you say "latest", which version, specifically, are you using? Yes, the FC V2 does have an internal magnetometer, but in both the ModalAI fork and on mainline the internal magnetometer is not enabled so any mag issues should be related to the mag on the GPS unit. Is the GPS being seen reliably? The barometer is on the board and shouldn't have any issues. If you disconnect that GPS unit do you still see occasional barometer missing errors? Also, can you start swapping out hardware to see if the issues are related to a hardware problem?