Error Codes

Is there a list of errors with definitions, cause, and corrective actions? That would be really useful.

I occasionally get an AHRS error (Bad AHRS) and I no idea what that is or what I should do? Next time it happens I will post the logs.

I see that there are three settings for AHRS_EHF_USE, disable, enable, and enable – no fallback. What are the pros and cons of each option? Also what is DCM?