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Unstable heading, pitch and roll

Often when I boot a BR2 I get a combination of either one or all three of the heading, pitch and roll moving. Sometimes they count 0 to 360 or backwards. Sometimes (rarely) they oscillate around about 30 degrees. I eventually resolve the fault by rebooting the vehicle. Usually it takes 5-10 reboots for it to settle down.
Any ideas how to stop this happening?

Hi @gcelec ,

We are aware of this issues and it is one of the main issues in our list for a future release of ArduSub.
Right now we need to make sure it is still present in Ardupilot master, as many changes were merged since Ardusub 4.0. The issue is being tracked here .