How to feed Custom IMU data to EKF2

PX4 Autopilot
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Context
I am building a pipeline where raw IMU data from MAVROS is passed through an AI model that outputs corrected accelerometer and gyroscope measurements. I then want PX4’s EKF2 to use this corrected IMU instead of the default onboard/simulated IMU data.

Currently, I publish the corrected IMU as a MAVROS HilSensor message on /mavros/hil/imu_ned. I can successfully echo this topic in ROS and also see the data arriving in QGroundControl’s MAVLink Inspector. I have set SYS_HITL = 1, so PX4 is in HIL mode.

Issue

Even though I see my corrected IMU data in MAVLink Inspector, running listener vehicle_imu inside PX4 shows nothing. It seems that EKF2 is not consuming my corrected IMU.

Question

  • When publishing corrected IMU data via MAVROS HilSensor in HIL mode, how to route that data internally?

  • Should I expect it to appear in sensor_accel and sensor_gyro rather than vehicle_imu?

  • If EKF2 is supposed to consume this data, what parameters (e.g. EKF2_MULTI_IMU, SENS_IMU_MODE) need to be set so that my corrected IMU becomes the primary source?

I’m very new to PX4.

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