[Bug] Height estimation error in SITL with v1.15.0

[goth42378]

Describe the bug

I was trying to do the gazebo simulation using the ROS2 individual motor control message open in PX4, but in the process I found that the altitude estimation of the drone was flawed. When the drone was stationary on the ground, the altitude estimation sometimes jumped to more than 1.5 m and the speed jumped to 0.5 m/s.
I tried to replace the PX4 version, but since the individual controller was not available until after V1.15.0, I tested v1.15.1 v1.15.0 and v1.15.0 beta. All these versions had similar problems.
I don't know how to fix it. Has anyone ever had a problem like this?

To Reproduce

1. Run the simulition with command make px4_sitl gazebo-classic
2. See the height estimate at the ground station via the mavlink inspecter

Expected behavior

The height and the vertical velocity should be close to zero.

Screenshot / Media

Flight Log

No response

Software Version

No response

Flight controller

No response

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response