How to get the local position of the Pixhawk in offboard control?

I’ve managed to have a raspberry pi (without ROS) communicating with the autopilot in offboard mode. While SITL (Gazebo) is working perfectly, I have some problems using my actual pixhawk. The pixhawk is only sending heartbeats, home- and global-positions to the pi.
Therefore, my question - what configurations or set ups are necessary to get the current local position of the pixhawk?

Thank you for your help and advices

Depending on which companion mode you have configured, PX4 streams different messages. You can find wich messages will be streamed for which configuration here.

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Never thought the solution could be that simple. Thanks @Nicolas!