Mag #1 Fail: Timeout! appears apparently random

This error keeps jumping sometimes at the start and sometimes while the vehicle is in the air. The performance of the vehicle isn’t affected but it’s annoying because once it started, it keeps jumping in variable intervals, sometimes of 2-5 seconds, sometimes bigger.

I noticed that the message jumps for each failsafe of the mag (checking “sensors status” in mavlink console).

The mag is external, connected with UAVCAN and I’m using PX4 v1.11.2, all internal mags disabled.

Sometimes the error doesn’t show and sometimes when it does, a reboot makes it disappear but sometimes don’t, so I don’t know what it triggers it. Also, a calibration of the mag sometimes helps but sometimes don’t.

Here’s an example of a flight where it jumps several times but as you can see, it doesn’t affect the performance:

My hipothesis is that the communication with the mag is slow and sometimes it reaches the timeout, but I haven’t done further research on it.

I’ll be glad to provide any more info/data that might help solve the issue.