I’m just starting to try to integrate external sensors and feed them to ekf2 under PX4 on custom hardware. I am publishing the following messages with a new PX4 module based on reading my sensors and can see the messages being published. sensor_accel 250Hz sensor_gyro 250Hz sensor_mag 250Hz ve…

Hi Can you provide the output of uorb top and top?

I added in a fake sensor_baro message and that got ekf2 publishing the expected messages. Unfortunately, I don’t have the “uorb top” and “top” outputs captured and saved before I added in the fake sensor_baro message, but I don’t think I saw anything unusual in those outputs, i.e. ekf2 was running …

With EKF2_HGT_MODE set to 1 ekf2 should not depend on the sensor_baro message at all. Can you further investigate that? sensor_baro is turned into the vehicle_air_data topic in sensors module used by ekf2.

I went back and obtained the uorb top and top outputs under both conditions: Without publishing sensor_data with EKF2_HGT_MODE=1 nsh> param show EKF2_HGT_MODE Symbols: x = used, + = saved, * = unsaved x + EKF2_HGT_MODE [128,222] : 1 TOPIC NAME INST #SUB #MSG #LOST #QSIZE task…

You’re right. I asked Paul Riseborough, the author of ekf2, and the reason for the hard baro requirement is that it’s used as a fallback option (in Ekf::controlHeightSensorTimeouts()), if the primary height source times out.

Ekf2 not generating all output uORB messages

souvik0306 October 19, 2025, 6:34am 8

@bkueng @dakejahl

I’m facing a somewhat similar issue with a new IMU based uORB topic and EKF2 - EKF2 delays with external IMU - #8 by souvik0306

Can you please weigh in here?

Topic		Replies	Views
EKF2 and uBlox M8P RTK	12	3727	June 7, 2017
EKF2 delays with external IMU	7	1221	October 17, 2025
EKF2 missed events on setup with VICON and ROS2 PX4 Autopilot	1	217	June 23, 2024
External Vision Position Estimate not working correctly PX4 Autopilot	7	116	April 16, 2026
EKF issues after some time on the ground, no movement PX4 Autopilot	1	506	February 5, 2019

Ekf2 not generating all output uORB messages

Related topics