HELP: First flight after new setup

Using a new EFT X6100 frame , Did autotune and most of the things are perfectly fine.

  1. I get compass 0 fault after disarming or after changing batteries which disappear when I reboot the vehicle.

  2. How to make my yaw turns slow during my mission flight.

  3. I get errors in estimator flags, what do they mean how can I solve them ?

  4. How do I tune it for my payload?

are vibrations in check and how to make them lower any comments will be helpful.