As I understand it that’s a notification more than a warning - ArduPilot’s EKF3 Lane Switching documentation says the EKF runs an instance per IMU, and if one set of sensors is misbehaving (or just noisier) it switches to another.
It may be worth doing a sensor calibration - if the notification persists there may be something wrong with one of the sensors on your autopilot board.
That should be possible using the Bridges page (requires Pirate Mode). We recently made some significant quality of life improvements to that page, so if you try out 1.1.0-beta.6 it should be extra pleasant to use
Of course any feedback is welcome, and please let us know if something isn’t working as expected
We were getting this problem when Ekf3 was enabled. We were getting Ekf3 imu1/0 forced reset and Ekf3 line switch 1 or 0 warning. In this case, EFK3 is disabled, we have enabled Ekf2, this problem has been solved, but this time we started to get continuous depth sensor error and again we rarely get Ekf2 imu1/0 forced reset or Ekf2 line switch 1 or 0 warning.