AHRS waiting for home & waiting for Terrain DATA

ArduCopter Copter 4.4
1

Hi @rmackay9
Running AC 4.4.4 on Octocopter with Terrain data loaded on FC SD card.
i have using UM982 GNSS system as GPS and GPS for YAW configuration.
i have enough amount of satellite in fact received 28 satellite which is maximum for this GPS in standalone GPS mode.
Hdop as 0.6 or 0.7
GPS Delta always maintain 200ms.
looking at the log Terrain loaded 336 (which is maximum)
terrain pending = 0.
mission planner Quick tap also showing that TERRAIN_PEND status as 0 .

but still getting Prearm: AHRS waiting for HOME & Waiting for TERRAIN data.
i just kept GPS in very open sky for long time but prearm doesn’t goes away.

CRTK 2HP waiting for HOME
CRTK 2HP waiting for HOME1364×764 12.5 KB

here is the bin log file WAITING FOR HOME & waiting for terrain data .bin - Google Drive