EKF2 External Vision Data Stopped and commence repeatly

Hi all,

I’m doing an indoor drone project using EKF, we don’t want to use GPS so

we set EKF2_AID_MASK to 8 only using vision position.

We are doing experiment on a gazebo sitl simulaor and mavros, everything seemed to be okay except px4 commander kept warning

INFO  [Unknown] EKF External Vision Data Stopped
WARN  [Unknown] EKF stopping navigation
INFO  [Unknown] EKF commencing external vision position fusion
INFO  [Unknown] EKF External Vision Data Stopped
ERROR [mavlink] [timesync] Hard setting offset.
INFO  [Unknown] EKF commencing external vision position fusion
ERROR [mavlink] [timesync] Hard setting offset.
INFO  [Unknown] EKF External Vision Data Stopped
WARN  [Unknown] EKF stopping navigation
INFO  [Unknown] EKF commencing external vision position fusion
ERROR [mavlink] [timesync] Hard setting offset.
INFO  [Unknown] EKF External Vision Data Stopped

And when I look at the rostopic /mavros/local_position/pose, the xy postion turned to nearly 0(similar with no position input) very quickly as I nearly cannot see.

We want to solve this problem because the nearly 0 position input make the whole system stable.

Anyone have the ideas of what is happening in ecl, or how to solve this problem? I only want to use one position input(vision position).

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It vanishes when I’m using real drone.
The message only appears on the simulator.