External position system

Hi everyone,
how can i publish Local Position to my quadrotor running PX4 firmware from a companion computer running ROS2? The problem is that im using an external positioning device ( attached to my companion computer ) and i want that the flight controller use this position and not the EKF local position estimate in order to obtain e better precision. I try to publish to " VehicleLocalPosition " topic but looks like it has no effect on the behavior of the system.
thaks in advance.

The topic you need to publish to is VehicleVisualOdometry. VehicleLocalPosition is the what comes from the flight controller and it’s the output of the the navigation kalman filter (EKF2).