Unhealthy AHRS and Flight mode change failed

I have a problem with my Cube Orange. It keeps showing me Unhealthy AHRS.

Can anyone help me? The log file can be found under the following link. Logfile_Rover

@Donaut Do simple accel calibration.

Thank you very much for your help.

I have already done it and have done it again, unfortunately without success.

Is it possible that it is related to the GPS?

The GPS is currently missing the direction information, hence the message. Drive/run a few meters, then the message is gone.

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