I've got the exact same problem, to fix it just go to settings then sharing accounts then click on the facebook account you want to use to upload then just enter the password and go through the authentication process then thats it you can upload as many pictures as you want

BUT this is only a temporary fix for me after I disconnect the internet and upload a picture another day I have to do the same process because I still get an error

EDIT: I just tried uploading something now and it works so it could be a permanent fix