The .bin flight log analyzer now tells you why a flight went wrong, not just what. Four improvements, 29 diagnostic checks total:

When your compass field swings with motor current, the report names it with the % swing, the body axis where power wires are inducing the field (X / Y / Z), and a specific fix — recalibrate vs. relocate vs. switch to external mast. It uses the same thresholds the firmware reports during ground COMPASS_MOT calibration, so there's no more guessing.

Mid-flight sensor disagreement — the actual cause of "toilet bowling" and unexplained heading drift — is now a first-class finding. We’ve replaced the older yaw-divergence heuristic, which copters often mask via low yaw authority, with a much more accurate detection system.

When your aircraft can't hold attitude, the report now distinguishes a mechanical issue (motor, prop, or ESC) from a flight-controller issue (compass-driven EKF, bad tuning) by checking whether the commanded attitude was itself stable. Different causes get different fixes, saving you hours of trial-and-error.

The map between subsystem IDs and human-readable names was getting a bit stale. We've updated everything for 4.6.x, so crash detection events and failsafes that were previously mislabeled will now surface correctly.