SITL Preflight Fail: Compasses -2147483648° inconsistent

I publish sensor message via /mavros/hil/imu_ned, but when I slide to arm, it notices that Preflight Fail: Compasses -2147483648° inconsistent, I am confused that I just publish one magnetic, why does the situation occur?

Possibly because it does not agree with the internal simulated compass,and is there for inconsistent.

Maybe that is the reason, I built a visual magnetic sensor, and the home position is my current position. And I check the gazebo sitl, there is no information about internal simulated compass. Would you have any suggestion about check the internal simulated compass or solve the problem?

No not really perhaps on the gazebo github you can ask: