EKF2 still initialising

I’ve got this message which prevented arming.


What does it mean and how can I fix it ?

ArduCopter 4.0.3
Matek F405-CTR

Wait till EKF finishes.
Keep your copter stable while powering up.
Also wait for stable GPS lock.

I didn’t see that EKF2 has it’s own GPS check


That is confusing because it prevents arming even if GPS is unchecked in ARMING_CHECK

Hi, I’m also having a similar issue using ROS on a RPi:

FCU: PreArm: EKF2 still initialising

This is happening right now when I set the mode with mavsys to -c 4 (guided) (when using mode 0 The error doesn’t happen)

I’m using ROS melodic, ArduCopter V4.0.6, KakuteF7 00250031 35385109 38333932 , ChibiOS: d4fce84e.
I do get some calibration messages :
FCU: EKF2 IMU0 tilt alignment complete
FCU: Barometer 1 calibration complete

I also don’t have gps nor magnetometer and I set the following parameters to but that still happens: EK2_MAG_CAL=0, AHRS_GPS_USE=0, EK2_GPS_CHECK=0, COMPASS_ENABLE=0.
I’m still getting familiarized but I couldn’t find a solution. I would really appreciate any help.

Hello, is this read and solvable ?
studently same happens to me seems to be GPS related… but I want to be GPS free