Dual Here 2 v2 CAN on cube black Compass issues

[jpappy (Jason Popillion)]

I found a similar topic on CubePilot referrencing the same problem.

Pre-arm errors “EKF2 Yaw inconsistent” & "Gyros inconsisten”

I’m experiencing pre-arm errors “EKF2 Yaw inconsistent” and in some instances also “Gyros inconsisten”. I’m running AC 4.0.3 and 4.0.4-rc1 in a CubeBlack for these tests. I have posted the problem first on the ardupilot forum, but I will also post it here because I think it may be a specific CubeBlack problem. #51701 If I plot AHR2.Yaw, NKF1.Yaw and NKF6.Yaw, I can see that over time NKF6.Yaw begins to differ causing these pre-arm messages. [YAW 4] [YAW 5] I’ve been looking into the logs a …

I did as was suggested in this article as a test and disabled IMU2 saved and rebooted. Wham immediately got a clean prearm check and 3d locks on my gps’s. The problem appears to be affecting cube black boards and the heating of IMU2 to operate at a acceptable rate for EKF calculations. Any help in how to get around this? Is is safe to operate without IMU2 running?