setting the bit mask in EKF2 to visual odometry, I face a confusion situation during start up. I am using a onboard odometry system, which works fine with LPE. During start up the following happens:
- Booting PX4
- Initializing odometry and sending odometry messages to PX4 via MAVlink
Result: Neither local nor global position are estimated
If I now reboot PX4, while keeping the odometry up, local position is initialized and estimated by EKF2 (although no GPOS). LPOS is very accurate (better than LPE).
What is the correct sequence of MAVLink commands to initialize EKF2 without GPS? Is there a possibility to initialize EKF2 with the origin via MAVLink ( set_global_gps_origin message did not work) to obtain a global position without GPS?