After importing my PKCS#12 file into the iOS Keychain, I am getting an error when I try to connect: "mbedTLS: ca certificate is undefined"

This error can occur if you don't include a ca directive in your profile, since the iOS Keychain does not provide the CA list from the PKCS#12 file to OpenVPN. The solution is to extract the CA list from the PKCS#12 file and add it to your profile via the ca directive. This is discussed in detail in the FAQ item above: How do I use a client certificate and private key from the iOS Keychain?