Sometimes that msg shows if you try to start the Phantom on something with a lot of metal like concrete with reinforcing inside or a car roof.
If that is the cause, just power down and start again in a better location.
It says compass calibration therefore it is asking you to do the dance with the phantom. Just note that ferromagnetic and/or magnetic materials in the vicinity of the phantom can throw the compass off which could result in such a message.
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