EKF has detected a GPS glitch

I am testing PX4 v1.6.5 and I don’t get good positional data. It work’s fine with v1.5.4 but with v1.6.5 it has been skipping messages from vehicle_global_position. On investigating estimator_status I found that EKF has been detecting some GPS glitch in between the flight.

solution_status_flags = 1855 (0111 0011 1111)
bit 10 - True if the EKF has detected a GPS glitch

What can be the reason that v1.5.4 works but v1.6.5 doesn’t? Here is the flight log.

We can look in detail (https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html), but one quick thing you might want to try is flying the v1.7.0 release candidate. There have been many robustness improvements in the estimator since the last stable release.