Unhealthy AHRS troubleshooting

I get the “Unhealthy AHRS” message a lot from my sailboat, although it works fine as far as I can tell.

What values trigger this warning in mission planner?

What should I look at in the tlog or dataflash log to debug this?

I looked through the documentation but could not find an answer, please send a link if I missed something. Thanks!

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Hi. I am struggling with a similar issue for a boat. Have you managed to find a solution?

Thanks.

I don’t have a systematic method for tracking down what is triggering the message.

At some point I upgraded to a M9N GPS, recalibrated the compass and the accelerometers, and it has been happy lately.

Recalibrate the accelerometers and compass will probably solve this.