This discussion was originally started on the 4.6 issues list but it is better that we do support here in the forums.
@mikedkelly reports
When I arm my plane the status changes to DCM Active and it throws continual Bad AHRS errors. As soon as I disarm it changes back to EKF3 Active.
@rfriedman suggests
Can you set LOG_DISARMED to 1 and get logs of it? Have you tried to reproduce on 4.5?
@mikedkelly replies
Here is the log and my params. I confirmed this happens on 4.5 and 4.6 beta 4. I guess I didn’t notice it before.
Logs can be found here