How to fix vio latency

I wonder if the vio delay recorded in the log is allowed? Do I need to make any adjustments(maybe add ekf2_ev_delay to 10ms?)? Could someone take a look at it for me?

@xdwgood I have the same question. I also would like to know how you generated this VIO latency figure. Did you have to enable in special logging in the Px4 parameters ?

yes,I added vehicle_visual_odometry to the default log.(change px4 code)

@xdwgood could you please share the change you did in the code ?