Does anyone have created FAKE_ORIGIN option for ekf2?
I've created some modifications within ekf2 to support indoor auto-mission without GPS (similar to LPE_FAKE_ORIGIN option).
Now i can takeoff and land in auto-mission with ekf2 by using fake global position with external vision (EKF2_AID_MASK 8).
However, navigator fails to produce correct position setpoint triplet, and therefore i cannot fly complete auto-mission.
The problem is that navigator produces triplet where previous and current setpoints are completely the same.
And mc_position_control therefore doesnt move aircraft in xy-plane(NED) in auto.