I have the same problem. I am using the original image for RPi4
Pre Arm: VisOdom: not healthy
Hello! I try this image with Pi 4B 4Gb version.
Raspberry pi 4 model b rev 1.5
https://firmware.ardupilot.org/Companion/apsync/apsync-rpi-ubuntu-t265-latest.img.xz
This image does not loading.
But clean Ubuntu 20.04.5 LTS loading successfully. May be i have new revision of Pi4? And do i need to update the image?