Hello, dear friends.
I used a realsense t265 camera to offer the odom data of my drone. The parameter EKF2_AID_MASK was set to vision position fusion and vision yaw fusion, and the value of this parameter is 24. The parameter EKF2_HGT_MODE was set to Vision as well. However, the data showed below rostopic echo /mavros/local_position/pose always went into zero (Data changes at first, but eventually becomes zero.) while the data of camera was correct.
Could u please help me and tell me how to resolve this problem? Thank you very much.
As far as I know you need the odom data be published to the right topic. Did you checked that?
If you get data through a nav_msgs/Odometry ROS message then you will need to remap it to /mavros/odometry/odom …
If your realsense publishes a pose message it need to be published to mavros/vision_pose/pose instead.
It might be also helpfull to move the drone (with no rotors - ofc) by hand and see whether the camera updates the current measurements.