PreArm: Internal errors 0x1000000 l:168 imu_reset

Cube Autopilot
#1

Hi,
I have a lot of different Cube Orange with Here 3 GPS antenna, which are starting to blink yellow and report Internal error 0x1000000 l:168 imu_reset. Sometimes problem is solved after autopilot restart, but the problem is very frequent.

I think this started to happen with latest firmwares, so I tried also with 4.1.5, but it also happens there.
Does it have anything to do with EKF settings, or should I disable any other checks to solve this?

I am running a Rover version of autopilot.

On ardupilot forum it is said that this is a hardware issue, however I don’t think it is possible that half of the autopilots I have are having this issue (5 out of 10).

Can you help me in debugging the issue, since autopilot does not work when this Internal Error occurs.

#2

This has been an issue for me as well. I have used several (~4) Orange Cubes and they all have intermittently given this internal imu_reset error while running a custom version of Hexacopter 4.1.5. Interestingly, it hasn’t been an issue on my tricopters which run a similarly custom version of Tricopter 4.1.5.

I’m interested in hearing if there has been any resolution whether that be a firmware update, parameter change, or other.