EKF2 integration fail with higher external vision updating rates


I’m working on integrating an external vision pose estimator and the EKF2 module on PX4 version 1.9.0. (Hardware: Hex Cube)

I got a good integration results with external vision updating rates about 60Hz. Log file: https://review.px4.io/plot_app?log=3c419166-0eaa-49d2-9854-40dd850597d3

However, I found that the EKF integration result failed while increasing the external vision updating rates (In my case: 180Hz) Log file: https://review.px4.io/plot_app?log=660c9ecb-31ea-4938-b72e-56a89373a4f8

Except for the external vision updating rates, there is no difference between these two test, does anyone have any idea about this problem? Thanks!