Hello Justin!
Which type of GPS do you use? I have exactly the same problem.
But i also get in on the ground, maybe a minute after cold start.
I use the ublox m8n with 3.01 firmware. GPS, GLONASS and GALILEO active.
Hardware: Pixhawk 1 (orignal 3DR)
Same behaviour on 3.9.1 and 3.9.2 beta (3?), even switching back to Nuttx does not help.
26 Sats, HDOP 0,5.
Baudrate 115k, GPS type: ublox
To be able to arm the plane, i disabled GPS check in EKF2 & EKF3.
First observation was, the error appears with “DGPS” status. But i am not absolutely sure.
I am going to upload a log file.
Best regards
Yannick