Hi I am now trying to use vision data without using GPS.
I am using pixhawk 3 with 1.9.2 version.
When I set EKF2_AID_MASK as just use GPS only, I can fly drone with position mode and it works well.
When I set EKF2_AID_MASK with 24 (vision position + vision yaw fusion), and give /mavros/vision_pose/pose data with vision estimator, it refuse position mode and go to altitude mode. But when I give /mavros/vision_pose/pose data with mocap signal, I can fly drone with position mode.
I found that position mode can be enabled when position is fixed.
What is specific condition of “position fix” ?