There are several recent topics on unhealthy AHRS. I’m not sure if something changed with the requirement to trigger this warning but I have started noticing it a lot more on my fixed wing platforms with various flight controllers. I do not use compass on fixed wing so maybe the EKF requirement for good position estimate is set high? As you can see in my logs, I have min 10 sats 17 max, hdop min=.61 max=1.16 so GPS is healthy and providing good position information.
Here is a similar topic and it seems @rmackay9 mentioned that it could be due to no GPS and that it’s on the todo list to remove when the AHRS isn’t really not healthy. I’m wondering if this is a similar case?
Here is another with rover where it was said that it was going to be removed.
@rmackay9 can you please provide some insight? The EKF reports “pos_horizon_abs Off” as red when I click on it in the HUD but everything seems fine. Guided flights, RTL and LAND all are perfect.