We are currently integrating a VectorNav VN-100 IMU (without GPS) with a Cube Orange flight controller. The VN-100 is connected to the GPS2 (Serial4) port.
The following parameters have been configured in ArduPilot:
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SERIAL4_PROTOCOL = 36
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SERIAL4_BAUD = 115
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AHRS_EKF_TYPE = 3
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EAHRS_TYPE = 1
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EAHRS_OPTIONS = 1
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EAHRS_SENSORS = 14
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EAHRS_RATE = 50
However, we are encountering the following PreArm errors:
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PreArm: heater temp low (4.9 < 40)
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PreArm: Gyros not healthy
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PreArm: AHRS: ExternalAHRS: No origin.
Could anyone please provide guidance on how to resolve these issues?