Hi @Itaru -
Progress is inevitable! The current stable version is now 4.5.0, which fixes many things and introduces an entirely new core. I would suggest trying this out! Calibrating the compass and other sensors from within BlueOS is supported - calibrating the gyroscope in particular may help your rotation issue. Make sure you’re running BlueOS 1.3.1 or newer Beta versions!
You can also display the trim angle the vehicle is trying to achieve by using Cockpit and the information in this thread- if you set the pitch angle higher than 15 degrees and the vehicle cannot achieve it, please share your .BIN autopilot log for this attempt!