which resulted in the warning mentioned, but also caused grub to not automatically boot the default menuentry after 10 seconds. It just hung around forever waiting for a manual selection. Especially not good for headless servers.
At the time of testing, my grub version was 2.02~beta2-6
A debootstrap of trusty created an /etc/default/grub with
GRUB_HIDDEN_ TIMEOUT= 0 TIMEOUT_ QUIET=true
GRUB_HIDDEN_
GRUB_TIMEOUT=10
which resulted in the warning mentioned, but also caused grub to not automatically boot the default menuentry after 10 seconds. It just hung around forever waiting for a manual selection. Especially not good for headless servers.
At the time of testing, my grub version was 2.02~beta2-6