It is on as soon as the ignition is turned on.
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On at start-up, therefore nothing to do with the compressor's ability to pump quickly enough.
Has any diagnostic tool other than your Nanocom been used to retrieve the fault codes? The warning light being on at start-up should have stored a code, possibly for an open circuit on a cross-link or reservoir valve.
Until the cause is found and resolved you would do well to remove the 20A suspension system fuse from the engine bay fuse box to stop the suspension lowering (its required to operate the valves) and the 5A suspension system fuse from the passenger compartment fuse box (ignition-on feed) to stop the annoying 50 kph messages every minute or so.
Just an update for anyone that may be interested. No one has been able to pinpoint the cause of the problem.
I can dump the air out of the suspension, putting it into service mode. Once I restart the car, it says there is a suspension fault but raises the car back up to standard level. The yellow light remains on the dash but it doesn't drop on its guts while I'm driving anymore.
Whenever I need to go offroad, I can plug the Nanocom in and raise the car that way.
I've got some time off over Christmas so I might have another play with it then.