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Message & Error Explainer

What an ArduPilot message means and what to do about it

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The EKF knows which way is down

InformationPosition and attitude estimate (EKF, AHRS)

What ArduPilot says:

The copy of the EKF (ArduPilot's position and attitude estimator) for this IMU is now sure of roll and pitch: in EKF3 its tilt uncertainty has dropped below 5°. With the aircraft standing still this takes a few seconds after “initialised”; carrying or tilting the aircraft meanwhile delays it. The heading is aligned next. Until this line has appeared the aircraft will not arm.

The code that sends it

EKF2 IMUN tilt alignment complete

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp NavEKF2_core::checkAttitudeAlignmentStatus() · Open in ArduPilot Copter-4.7.1

EKF3 IMUN tilt alignment complete

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp NavEKF3_core::checkAttitudeAlignmentStatus() · Open in ArduPilot Copter-4.7.1

Written here for Copter 4.6. In the tool you choose your vehicle and version, see your own parameter values beside the ones named here, and drop a flight log to have every message in it explained.

Open it in the Message & Error Explainer