Simulation take off motion not vertical

1

I use the sample code from this : https://docs.px4.io/v1.12/en/ros/mavros_offboard.html
In the past, it took off vertically and can complete a triangle trajectory
However, it suddenly goes wrongly with this error.
[health_and_arming_checks] Preflight Fail: High Accelerometer Bias
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The below is the recorded video
https://youtu.be/rcNdcXxstQU
The sample code trajectory becomes not perfect triangle.
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I noticed that if using roslaunch px4 mavros_posix_sitl.launch the issue happened after one flight
However, if using make px4_sitl gazebo, there is no issue. I can control the drone to take off vertically with QGroundcontrol, ref: https://docs.px4.io/main/en/simulation/gazebo_vehicles.html

The same issue happens when running roslaunch px4 posix_sitl.launch and take off with QGroundControl
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Thus, the issue may be due to px4 posix_sitl.launch in the PX4-Autopilot

The same issue happens in a real drone, https://github.com/PX4/PX4-Autopilot/issues/10833

I also notice the rostopic echo /mavros/imu/data
image
similar issue ref: https://github.com/mavlink/mavros/issues/1133

The acceleration is not 0, when it did not move.

2

I tried to remove this parameters
in the file /home/your_user_name/.ros/eeprom/parameters
ref:preflight check failed, missing sensor during GAZEBO simulation · Issue #12500 · PX4/PX4-Autopilot · GitHub

However, it does not work.

3

I tried to remove the build folder
PX4-Autopilot/build
and then make px4_sitl gazebo
ref: Custom Gazebo PX4 Model in SITL - Compass Calibration Lost?
ref:Custom Gazebo PX4 Model in SITL - Compass Calibration Lost? - #3 by Christopher_Baker
However, it does not work.

4

I tried to run different vehicle such as iris and typhoon_h480
However, it does not work

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5

It is very helpful to clean the ~/.ros
ref: Posix Sitl vehicles don't work correctly · Issue #18299 · PX4/PX4-Autopilot · GitHub

However, it still sometimes has the Preflight Fail: Battery unhealthy