Here is the sensors status when the quadcopter fails to arm due to high sensors bias
pxh> sensors status
INFO [sensors] gyro status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 100, state: OK
INFO [ecl/validation] val: 0.0058, lp: -0.0017 mean dev: -0.0001 RMS: 0.0060 conf: 1.0000
INFO [ecl/validation] val: -0.0109, lp: -0.0064 mean dev: -0.0001 RMS: 0.0059 conf: 1.0000
INFO [ecl/validation] val: 0.0014, lp: 0.0003 mean dev: -0.0001 RMS: 0.0059 conf: 1.0000
INFO [sensors] accel status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 100, state: OK
INFO [ecl/validation] val: -0.2835, lp: -0.2631 mean dev: 0.0015 RMS: 0.0698 conf: 1.0000
INFO [ecl/validation] val: 0.1161, lp: 0.1588 mean dev: -0.0023 RMS: 0.0705 conf: 1.0000
INFO [ecl/validation] val: -9.7743, lp: -9.8268 mean dev: 0.0019 RMS: 0.0706 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 75, state: OK
INFO [ecl/validation] val: -0.3004, lp: -0.2601 mean dev: 0.0028 RMS: 0.0901 conf: 1.0000
INFO [ecl/validation] val: 0.0717, lp: 0.1565 mean dev: 0.0009 RMS: 0.0914 conf: 1.0000
INFO [ecl/validation] val: -9.7855, lp: -9.8212 mean dev: 0.0049 RMS: 0.0920 conf: 1.0000
INFO [sensors] mag status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 50, state: OK
INFO [ecl/validation] val: 0.1970, lp: 0.1974 mean dev: -0.0007 RMS: 0.0099 conf: 1.0000
INFO [ecl/validation] val: -0.0864, lp: -0.0825 mean dev: -0.0005 RMS: 0.0102 conf: 1.0000
INFO [ecl/validation] val: -0.4293, lp: -0.4289 mean dev: -0.0008 RMS: 0.0105 conf: 1.0000
INFO [sensors] baro status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: 955.9312, lp: 955.9419 mean dev: -0.0003 RMS: 0.0107 conf: 1.0000
INFO [ecl/validation] val: 32.0000, lp: 32.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
INFO [ecl/validation] val: 0.0000, lp: 0.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
INFO [sensors] Temperature Compensation:
INFO [sensors] gyro: enabled: 0
INFO [sensors] accel: enabled: 0
INFO [sensors] baro: enabled: 0
INFO [sensors] Airspeed status:
INFO [ecl/validation] no data
pxh> INFO [commander] data link #0 lost
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_1/imu, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_2/motors, deleting message. This warning is printed only once.
WARN [commander] Preflight Fail: High Accelerometer Bias
INFO [commander] data link #0 regained
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris/gazebo/command/motor_speed, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris/imu, deleting message. This warning is printed only once.
[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/iris_1/motors, deleting message. This warning is printed only once.
INFO [commander] data link #0 lost
And here are the normal values when starting Px4
NFO [px4] Startup script returned successfully
pxh> INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
pxh> sensors status
INFO [sensors] gyro status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 100, state: OK
INFO [ecl/validation] val: -0.0058, lp: -0.0012 mean dev: 0.0000 RMS: 0.0062 conf: 1.0000
INFO [ecl/validation] val: -0.0025, lp: -0.0054 mean dev: -0.0000 RMS: 0.0060 conf: 1.0000
INFO [ecl/validation] val: -0.0022, lp: 0.0007 mean dev: 0.0001 RMS: 0.0059 conf: 1.0000
INFO [sensors] accel status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 100, state: OK
INFO [ecl/validation] val: -0.1743, lp: -0.1946 mean dev: 0.0042 RMS: 0.0711 conf: 1.0000
INFO [ecl/validation] val: 0.2256, lp: 0.1907 mean dev: 0.0015 RMS: 0.0704 conf: 1.0000
INFO [ecl/validation] val: -9.9659, lp: -9.9280 mean dev: -0.0028 RMS: 0.0702 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 75, state: OK
INFO [ecl/validation] val: -0.1759, lp: -0.1942 mean dev: 0.0031 RMS: 0.0914 conf: 1.0000
INFO [ecl/validation] val: 0.2254, lp: 0.1922 mean dev: -0.0024 RMS: 0.0891 conf: 1.0000
INFO [ecl/validation] val: -9.9071, lp: -9.9303 mean dev: -0.0023 RMS: 0.0901 conf: 1.0000
INFO [sensors] mag status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 50, state: OK
INFO [ecl/validation] val: 0.1925, lp: 0.1975 mean dev: -0.0010 RMS: 0.0100 conf: 1.0000
INFO [ecl/validation] val: -0.0717, lp: -0.0849 mean dev: -0.0005 RMS: 0.0099 conf: 1.0000
INFO [ecl/validation] val: -0.4296, lp: -0.4272 mean dev: 0.0014 RMS: 0.0104 conf: 1.0000
INFO [sensors] baro status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: 955.9479, lp: 955.9425 mean dev: -0.0001 RMS: 0.0104 conf: 1.0000
INFO [ecl/validation] val: 32.0000, lp: 32.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
INFO [ecl/validation] val: 0.0000, lp: 0.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
INFO [sensors] Temperature Compensation:
INFO [sensors] gyro: enabled: 0
INFO [sensors] accel: enabled: 0
INFO [sensors] baro: enabled: 0
INFO [sensors] Airspeed status:
INFO [ecl/validation] no data
pxh> INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
Someone can see the problem??