“I am seeking assistance with a Cube Orange and Here 4 GPS (DroneCAN) setup running ArduCopter, as I am unable to pass Pre-Arm checks due to a series of critical sensor errors: ‘EKF3 not started’, ‘Compass not healthy’, ‘EKF attitude is bad’, and ‘Accels inconsistent’. Despite the Here 4 being detected on the CAN bus, the EKF3 fails to initialize because the internal and external sensors (accelerometers and compasses) are reporting conflicting data. I have already attempted basic calibrations, but the AHRS cannot find a valid solution to start the EKF. Could you please help me identify if this is a calibration sequence issue, a firmware mismatch between the Cube and Here 4, or if I need to disable specific internal IMUs to resolve the ‘Accels inconsistent’ error?” and ı see only no fix gps error.
You’re probably dealing with a bricked Here 4 GNSS. It happened to me last October, and the Cubepilot forum confirmed they working on a new firmware update to get the solution but you should contact with your provider and Cubepilot itself to get the detailed steps to confirm your case.
If it’s not, you should study properly, it’s not rocket science to get one of those reading and vibing, just following Cubepilot guide is enough. Or share more info