Teensy 3.6 prop shield major yaw drift

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Sharpson

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I purchased a teensy 3.6 and installed a prop shield "Motion Sensor" version. Ran through the https://www.pjrc.com/store/prop_shield.html

I have never been able to get anywhere close to stable yaw values. It ranges from .5 degrees a second to over 3 degrees a second of drift. A bump changes everything. Recalibration makes no difference.

Description
As described here: https://forum.pjrc.com/threads/45173-Prop-Shield-large-drift?highlight=prop+shield+drift
Yaw is drifting terribly when the board is stable.

Steps To Reproduce Problem
Follow all installation and calibration instructions here:
https://www.pjrc.com/store/prop_shield.html

Hardware & Software
Teensy 3.6
Prop Shield
Arduino IDE version: 1.8.7
Teensyduino loader version: 1.44
VID 16c0
pid 0483

Operating system & version Win 7 x64

So I went and tried everything here:

https://forum.pjrc.com/threads/45173-Prop-Shield-large-drift?highlight=prop+shield+drift

And was able to get the dependencies installed and it compiled. Then calibrated via the software provided and that routine. The quaternion results are NaN but everything else feeds back fine. Copied the calibration.h as its required for this one and recompiled. Still nothing.

How do you get a basic stable yaw value from the compass?
 
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