Drifting indoor drone using external vision

I am using an indoor localization solution using UWB devices that provides me with x,y values and using range finder lidar for my vertical position.

The UWB localization solution was computed on an onboard computer running ROS1 noetic and relayed to /mavros/vision_pose/pose topic. On the PX4 I’ve configured the EKF2 setting to enable only the horizontal position fusion (since UWB does not have velocity estimate, heading or z estimate). I am also using ARKFLOW optical flow sensor, however I can arm even without it.

PX4 Firmware version: 1.15 beta

The issue is as soon as the drone takes off, it starts to drift in one direction. I am attaching my logs. Please advised on what should i do next?

https://review.px4.io/plot_app?log=2159dcf6-3153-4a81-a93e-58a86d2654d4

https://review.px4.io/plot_app?log=ef02035d-fdc4-4131-947c-e6ef3fd9871e

@JulianOes any ideas what is going wrong?

No, I’m afraid that’s not a setup I have recently worked with. If I knew the answer, I would have answered.