Since updating to the latest release on an Cube Orange, I’ve started getting PreArm: EKF Attitude Bad.
I’ve reset params to default, flashed to Plane and back to Coper with no resolution. Not sure if this is related to setting the default IMU to 2 or not.
Did you do all calibrations?
There is a chance the error gets cleared once all sensors get calibrated
Cant tell much without a .bin log file, set LOG_DISARMED,1 for testing purposes, upload the log to a filesharing service and send us the link to that log.
Once I replicate the issue, I’ll upload a log for you to take a look at. I just reloaded the firmware and will try again in a few hours.