GPS problem and kalman filter problem

[w2016561536]

Just like light house system. i tried to use estimatorEnqueuePosition to input WGS84 coordinate . I have modify the type of data from float to double in positionMeasurement_t. Hope that the drone could hover in the sky, but the reality is that it can not take off. Sometimes it will roll upside down. Doesn't it can not input a WGS84 coordinate?(I have switched the mode to POSHOLD_MODE)

By the way , when I use the kalman Estimator instead of complementary Estimator. Sometimes the data of drone's attitude will be reset to 0. Perhaps it is the reason why it can't hover properly?