Usage of External AHRS feature


I m trying to use external AHRS with PX4 (VectorNav library). I managed to connect(UART)/send data packets. In status page gyro, accel, roll/pith/yaw, LLA looks fine, but I receive Bad Gyro Health message.

Can you help me? (maybe a complete parameters changes)

I use 4.2 firmware.

Thanks and best regards,