Is magnetometer orientation still required

I can see that mag orientations are detected during the calibration. Is it still required to provide mag orientation in the mag startup command?

The orientation of the external magnetometer is automatically detected if the internal mag works reasonably well and that the external one is in a 0, 45, 90, … degrees angle orientation only (e.g.: if the rotation is roll 45 / yaw 90, it should work, but a mag with a rotation of yaw 40 will be identified as yaw 45).

In summary, the auto-detection works for most setups, but if you already know the rotation or that it isn’t a multiple of 45 degrees, just set it manually so you don’t have surprises.