Height estimate not stable - EKF2 missing data

Good morning everyone

I am currently working on the main branch of the PX4 Firmware, and I am doing simulation studies in Gazebo Classic with the Iris quadrotor.
When using the main version, I am experiencing bad behaviors in the height estimations during my simulations. In particular, even if the quadrotor has not performed takeoff yet, the height and velocity estimates on Z start to diverge, in particular, I saw in each simulation an error range of 1.50 meters (both negative and positive), and 0.40 m/s error for the velocity.
When launching the simulation, some warnings appear, as can be seen in the picture I send you here.

It seems like something is not initialized properly for the EKF, but I cannot figure out which files to modify and/or what to edit to make it work properly.
If it can help, when initializing a simulation with the v1.13.2 version, this does not happen. I also tried with the 1.14.2 and this does not happen, but still having the “EKF2 missing data” warning.
Did someone have a hint on how to solve this?
Thank you.

Update, it happens from version 1.15-beta1 on.
Version 1.15-alpha1 is still ok.

Tagging @bresch for this one.

This still happens with the current main version (after 1.15.0-rc2).
Is there some news about that?

I think the problem is still here. I have tried the newest version.(stable and beta) The warning still happen when using a gazebo-classic simulation. Have you figure it out?

I have noticed that after removing the accelerometer noise during the simulation process, the height estimation became normal. I suspect that there may be an issue with the EKF module’s handling of the accelerometer’s bias, possibly lacking a proper reset. However, I am not an expert in state estimation. Nevertheless, testing the state estimation on actual hardware has shown no issues, so this problem does not affect normal usage.
You may try commenting out this part of the program in the

Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_imu_plugin.cpp