What I do is connect the charging cable while the iPad is still on, wait for the “This accessory may not be compatible” message (sometimes it doesn’t recognize it, in that case I unplug the cable, turn it around and plug it again until it gives the warning) and then turn the iPad off. It’s a bit annoying but at least I can still charge it and make use of my iPad, it’s my everyday “tool” and source of news. The other day I let the battery run to low (below 5) and I was fearful I wouldn’t be able to charge it again because of this problem, fortunately after a few minutes it did charge, lucky me!