I'm suffering it too. I also suffer the 5-10 seconds delay when the message 
appears.
- When I disable BIOS option (Legacy FDD), the message dissapears (but due to a 
bios bug, the system refuses to start sometimes when I disable the option!)
- I've tried grub-install --no-floppy several times, re-created the device.map 
file without floppy and saw the grub-install debug output, and there is no 
trace about "fd0" nor "floppy" anywhere.

It seems to be a problem in grub, maybe in the way to search for the
grub.cfg file.

** Changed in: grub2 (Ubuntu)
     Assignee: (unassigned) => Colin Watson (cjwatson)

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Error scanning for fd0 on boot
https://bugs.launchpad.net/bugs/568720
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