I am trying to integrate a visual odometry device in a cubepilot with px4. Currently the odometry is providing x,y positions in local NED so I get that the ESTIMATOR_STATUS flag ESTIMATOR_PRED_POS_HORIZ_REL = 1 but the ESTIMATOR_PRED_POS_HORIZ_ABS = 0.
My question is if in this setup the estimator can work without absolute position and if the flag ESTIMATOR_PRED_POS_HORIZ_ABS can be activated only providing information in a local frame or an absolute frame like gnss is needed.