Prearm Check: Gyros not healthy after 4.5.3 firmware update

Had a good mow day yesterday - this morning, I upgraded to 4.5.3 and get a Prearm Check: Gyros not healthy" error

Callibrate Accel fails at first (level) check
Callibrate Level passes (but no change)
Simple Accel Cal passes (but no change)

Mower is stationary, on level concrete pad (no view of sky).

EK3_IMU_MASK set to 1 (no change) messages:
6/9/2024 9:32:33 AM : PreArm: Gyros not healthy
6/9/2024 9:32:24 AM : SmartRTL deactivated: bad position
6/9/2024 9:32:09 AM : Field Elevation Set: 178m
6/9/2024 9:32:09 AM : AHRS: EKF3 active
6/9/2024 9:32:09 AM : EKF3 IMU0 origin set
6/9/2024 9:32:02 AM : PreArm: Gyros not healthy
6/9/2024 9:32:01 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 9:31:59 AM : EKF3 IMU0 initialised
6/9/2024 9:31:58 AM : u-blox 2 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:31:58 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:31:51 AM : EKF3 waiting for GPS config data
6/9/2024 9:31:43 AM : GPS 2: detected as u-blox at 460800 baud
6/9/2024 9:31:43 AM : GPS 1: detected as u-blox at 460800 baud
6/9/2024 9:31:41 AM : EKF3 waiting for GPS config data
6/9/2024 9:31:35 AM : RCOut: PWM:1-16
6/9/2024 9:31:35 AM : AHRS: DCM active
6/9/2024 9:31:35 AM : ArduPilot Ready
6/9/2024 9:31:34 AM : Beginning INS calibration. Do not move vehicle
6/9/2024 9:31:34 AM : Barometer 1 calibration complete
6/9/2024 9:31:32 AM : Calibrating barometer

EK3_IMU_MASK set to 2 messages:
6/9/2024 9:43:08 AM : PreArm: Gyros not healthy
6/9/2024 9:42:59 AM : SmartRTL deactivated: bad position
6/9/2024 9:42:45 AM : Field Elevation Set: 167m
6/9/2024 9:42:45 AM : AHRS: EKF3 active
6/9/2024 9:42:45 AM : EKF3 IMU1 origin set
6/9/2024 9:42:37 AM : PreArm: Gyros not healthy
6/9/2024 9:42:36 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 9:42:34 AM : EKF3 IMU1 initialised
6/9/2024 9:42:33 AM : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:42:33 AM : u-blox 2 HW: 00190000 SW: EXT CORE 1.00 (0fa0ae)
6/9/2024 9:42:26 AM : EKF3 waiting for GPS config data
6/9/2024 9:42:19 AM : GPS 2: detected as u-blox at 460800 baud
6/9/2024 9:42:19 AM : GPS 1: detected as u-blox at 460800 baud
6/9/2024 9:42:16 AM : EKF3 waiting for GPS config data
6/9/2024 9:42:10 AM : RCOut: PWM:1-16
6/9/2024 9:42:10 AM : AHRS: DCM active
6/9/2024 9:42:10 AM : ArduPilot Ready
6/9/2024 9:42:09 AM : Beginning INS calibration. Do not move vehicle
6/9/2024 9:42:09 AM : Barometer 1 calibration complete
6/9/2024 9:42:07 AM : Calibrating barometer

And back to 0:
6/9/2024 10:08:14 AM : AHRS: EKF3 active
6/9/2024 10:08:14 AM : EKF3 IMU1 origin set
6/9/2024 10:08:14 AM : EKF3 IMU0 origin set
6/9/2024 10:08:07 AM : PreArm: Gyros not healthy
6/9/2024 10:08:06 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 10:08:06 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 10:08:04 AM : EKF3 IMU1 initialised
6/9/2024 10:08:04 AM : EKF3 IMU0 initialised

Its interesting that the PreArm error is right after the tilt alignment. My FC is slightly tilted (3deg) from level. So I jacked the mower up to level, and still get the PreArm Gyros not healthy error.

Next, I loaded Copter firmware - no PreArm error except improper frame:

6/9/2024 10:19:22 AM : Frame: UNSUPPORTED
6/9/2024 10:19:22 AM : IMU0: fast, high-resolution sampling enabled 2.0k
6/9/2024 10:19:22 AM : RCOut: PWM:1-16
6/9/2024 10:19:22 AM : IOMCU: 410 2003 411FC231
6/9/2024 10:19:22 AM : Pixhawk6X 0037004B 34325104 34363336
6/9/2024 10:19:22 AM : ChibiOS: 6a85082c
6/9/2024 10:19:22 AM : ArduCopter V4.5.3 (ee14ff38)
6/9/2024 10:19:22 AM : Frame: UNSUPPORTED
6/9/2024 10:19:22 AM : IMU0: fast, high-resolution sampling enabled 2.0k
6/9/2024 10:19:22 AM : RCOut: PWM:1-16
6/9/2024 10:19:22 AM : IOMCU: 410 2003 411FC231
6/9/2024 10:19:22 AM : Pixhawk6X 0037004B 34325104 34363336
6/9/2024 10:19:22 AM : ChibiOS: 6a85082c
6/9/2024 10:19:22 AM : ArduCopter V4.5.3 (ee14ff38)
6/9/2024 10:19:21 AM : Frame: UNSUPPORTED
6/9/2024 10:19:21 AM : IMU0: fast, high-resolution sampling enabled 2.0k
6/9/2024 10:19:21 AM : RCOut: PWM:1-16
6/9/2024 10:19:21 AM : IOMCU: 410 2003 411FC231
6/9/2024 10:19:21 AM : Pixhawk6X 0037004B 34325104 34363336
6/9/2024 10:19:21 AM : ChibiOS: 6a85082c
6/9/2024 10:19:21 AM : ArduCopter V4.5.3 (ee14ff38)

And back to Rover 4.5.3:
6/9/2024 10:29:16 AM : SmartRTL deactivated: bad position
6/9/2024 10:29:01 AM : Field Elevation Set: 190m
6/9/2024 10:29:01 AM : AHRS: EKF3 active
6/9/2024 10:29:01 AM : EKF3 IMU1 origin set
6/9/2024 10:29:01 AM : EKF3 IMU0 origin set
6/9/2024 10:28:54 AM : PreArm: Gyros not healthy
6/9/2024 10:28:53 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 10:28:53 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 10:28:51 AM : EKF3 IMU1 initialised
6/9/2024 10:28:51 AM : EKF3 IMU0 initialised

Backed to 4.5.2b (worked fine for me) - no issues with Gyro, but had to do a 3d accel calibration - 4.5.3 was not letting me get past the “level” test:
6/9/2024 10:50:57 AM : AHRS: EKF3 active
6/9/2024 10:50:57 AM : EKF3 IMU1 origin set
6/9/2024 10:50:57 AM : EKF3 IMU0 origin set
6/9/2024 10:50:49 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 10:50:49 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 10:50:47 AM : EKF3 IMU1 initialised
6/9/2024 10:50:47 AM : EKF3 IMU0 initialised

Saving my params and going back to 4.5.3 - NO JOY:
6/9/2024 11:00:31 AM : PreArm: Gyros not healthy
6/9/2024 11:00:30 AM : EKF3 IMU1 tilt alignment complete
6/9/2024 11:00:30 AM : EKF3 IMU0 tilt alignment complete
6/9/2024 11:00:28 AM : EKF3 IMU1 initialised
6/9/2024 11:00:28 AM : EKF3 IMU0 initialised

Uploading 4.5.2 stable:
No gyro problem - gonna get some mowing done.
If anyone has a thought, or if I need to upload logs, pls advise.

9JUN24-4.5.2b.param (16.1 KB)

1 Like

I am using 2 Pixhawk 6x both with minor differences with setup. They are both recieving this Gyro not healthy message with 4.5.3 firmware. It does not appear when loaded with 4.5.2 and able to fly with 4.5.2 Arducopter.

1 Like

Not sure where to notify the Developers, but seems an issue…

See here:

Initial issue is unrelated, but later discussion indicates this will be fixed in an upcoming update.

I see this message briefly on a Cube Orange running 4.5.3. It clears and I can fly without further issue.

1 Like

Thx much Yuri. Will wait on 4.5.4. Also, tell your devbros thx as well! Cd…