Home has not been set yet
What ArduPilot says:
- PreArm: AHRS: waiting for home
Home is the point the aircraft returns to and measures its height from. ArduPilot sets it by itself as soon as the EKF, its position and attitude estimator, has a position it trusts. The GPS already has a 3D fix (that is checked just before), but the EKF has not accepted it yet. It is part of the GPS group of arming checks.
What to do, most likely first
The GPS fix is fresh: the EKF wants about 10 s of steady GPS data before it sets its origin and home.
Check“EKF3 IMU0 origin set” has not appeared in the messages yet.
FixWait; the home icon appears on the ground station's map when it is done.
The GPS is too poor for the EKF: its accuracy or its speed readings do not pass the EKF's own checks.
CheckOther lines beginning with “GPS” or “AHRS:” say which check fails.
FixMove into the open, away from buildings and from on-board sources of interference, and wait.
Parameters to look at
| Parameter | What it is |
|---|---|
GPS1_TYPE | GPS type |
EK3_SRC1_POSXY | Position Horizontal Source (Primary) |
Where to do it:Setup & Tuning Guide
The code that sends it
PreArm: AHRS: waiting for home
libraries/AP_Arming/AP_Arming.cpp AP_Arming::gps_checks() · Open in ArduPilot Copter-4.7.1