Proble about pozyx IndoorLoiter

I am using DWM1000 STM32 Development board to develop indoor loiter TAG, I have read the code []

So I encode my communication protocol on stm32 ,and the pixhawk accept the data from my stm32,which means that the pixhawk get the pos data from my stm32
And I have set the parameters of board right,But the copter still can’t get the position fixed. What can I do to get it fixed?

and I get the position ,the BEACON’s distance and the config from my STM32 right,but the pixhawk also can’t get the position fixed,what should I do?