EKF Variance "pos_horiz_abs OFF"

ArduRover
1

Hi
Got myself into a bit of a corner.
Running Ardurover 4.6.2. Frame_class boat, Frame_type undefined. CubeOrange+, Here3+ GPS, with base station Here+.
I can’t get to the arming stage, as I had a persistant EKF/EK3 problem that I can’t resolve.
The base station is set up outside, and with a minimum setting of less than 3m. When the system settles, and we get a GPS:rtk Fixed, we still have the EKF error, pos_horiz_abs OFF. If I try to arm, immediately the EKF variance error shows. Back to Disarmed, and the EKF variance clears, but the pos_horiz remains.
I have looked through the EKF setup instructions, and changed the values to those recommended, with the only exception to change the EK3_SRC1_ POSXY etc, to 6, external navigation, which I believe RTK should work?
I did several steps back, restoring default values, and trying to rebuild the system, but the same issue. What am I doing wrong? CC
https://drive.google.com/file/d/1PH2JBYBA2FksaszZymRLI8eg3MDJyS1j/view?usp=drive_link, https://drive.google.com/file/d/111lx5616qo-qIh8lHEQiRzVaH4pcZzx_/view?usp=drive_link, https://drive.google.com/file/d/1VUbwcwOfivdwegbEVqbla5CZEUCTR_XZ/view?usp=drive_link

2

this is the relevant parameters list
17082025WortingHouse.param (16.8 KB)

3

That’s not correct. EK3_SRC1_ POSXY=6 is for feeding in visual odometry systems, instead of GPS. You need to change this back to using GPS (value 3).

So, what you need to do is reset to the default values:

EK3_SRC1_POSXY=3
EK3_SRC1_POSZ=1
EK3_SRC1_VELXY=3
EK3_SRC1_VELZ=3
EK3_SRC1_YAW=1
4

Many thanks. Values corrected. (I had tried a google search, and was mislead by an AI response about RTK!)
I guess it implies that I may have many other config errors, which will contribute to the EKF pos_horiz_abs Off messages?
I maybe should go back to a full default parameter setup, and follow the instructions in fine detail, slowly building the system and checking before moving to the next stage? I find it easy to get side tracked…
CC