I’m having the same problem on a new build. I had ARMING_CHECKS = 0 while I was doing all the bench setup and I was continually getting Bad AHRS messages over and over. So after calibrating my accelerometer and compass, I set ARMING_CHECKS = 1 and this message pretty much went away. I’m getting different messages now specifically
The “Bad AHRS” message appears when the EKF doesn’t have a good position estimate. It is not a very useful message so I think we will eventually remote this message to be consistent with Copter which doesn’t display this message.
The ARMING_CHECKs parameter value doesn’t affect whether the message will appear or not. I suspect if the vehicle is armed in a mode that requires a position estimate (like Auto, Guided, RTL, Loiter), an EKF failsafe will be triggered soon afterwards and it will switch to Hold mode.
In any case, I think once the calibrations are all done and the vehicle is taken outside it will start working correctly.
Same on Plane latest version. Been asking for help but no response except enable compass which I do not want to do. I’ve never had this issue with fixed wing before.
This has been an ongoing problem for years that has NOT been resolved. In my case it’s whining about GPS, I don’t care whether I have a GPS fix or not - the damned annoying message obliterates the screen. I have resorted to all checks off to enable arming as it seems overly sensitive on how many satellites constitutes a fix, only 4 is required not 10+ as Ardupilot seems to want!! Not that I always need a fix, it’s a rover that is often used in indoor environments and has lidar and cameras to navigate via operator, GPS is nice but not a show stopper. It should simply be possible to disable the annoying and distracting message.
What you view as a nuisance is a feature to many other users (and it’s not the same issue as the OP is having). If you are using your Rover indoors, take a look at @rmackay9’s demo of GPS to non-GPS navigation transitions:
Not to hijack your thread but for plane I am able to arm and takeoff, just that the HUD warning message never goes away. As you can see I have good sats and hdop.
@rmackay9 Thanks. Although I believe my issue with plane is due to some EK3_SRC parameters not being set correctly. I am flying without compass so I think I need to change some to GPS. That sound about right?
If you’ve been carrying parameters forward since ~4.0, the EK3 parameters would almost certainly be at defaults, since EKF 2 was the only Kalmann filter available at the time.
I have been carrying over for a long time. If I recall, I may have started with a dev version so it’s quite old. I will have a look at the default params and compare to mine to sort this. I had no idea that my EK3 parameters may not have been default as I never changed them. I will look back at my backups and see where it happened just for sanity. Thanks!
GSF is not really meant to be used as a full time source of yaw, it’s really for emergencies.
In short, I think you’ll need to enable the compass.
The “Bad AHRS” comes from the EKF not having a good attitude and position estimate so it needs both heading (e.g. compass) and location (e.g. GPS, wheel encoders, etc). We can make the “Bad AHRS” display go away but of course the vehicle will still not know its position so autonomous driving won’t work.
