A request to set the EKF origin was refused: it already has one

What ArduPilot says:

• EKF2 refusing set origin
• EKF3: origin already set

Something asked the EKF, ArduPilot's position and attitude estimator, to set its origin, the fixed point all positions are measured from: “Set EKF origin here” in the ground station, a script or a companion computer. The EKF already has an origin and never moves it, because every position and the flight path with them would jump.

What to do, most likely first

1. The GPS had already set the origin, or the request was sent twice.

   FixNothing to do if the position on the map is right. To start from another origin on purpose (flying without GPS), reboot and set it before anything else does.