Send Position to px4

[rapit]

Hi,
I was wondering how I have to configure px4 to get the position estimate from voxl for position mode.

The connection to TELEM2port of my Pixhawk4 works, I am getting Odometry Messages when voxl-vision-px4 is running. I set the px4 parameter EKF_AID_MASK to 8 which is vision position fusion. I completely removed GPS from my drone.

When I inspect LOCAL_POSITION_NED messages I see the x,y coordinates from the odometry but the z coordinate is very off.

Any thoughts on that? Thank you!

[rapit]

Nevermind, apparently I looked in the wrong places:

https://dev.px4.io/master/en/ros/external_position_estimation.html has the answer: EKF2_HGT_MODE must be set to vision to use the voxl odometry instead of the barometer. Closing this.