Logging VEHICLE_GLOBAL_POSITON

[geebd]

I don’t want to publish an invalid position. I was just wondering when/how does it become valid. I prefer to shutdown position_estimator_inav and just use ekf2 for the VEHICLE_GLOBAL_POSITION message because I read in another post that it may not be as accurate. However I don’t know how to get ekf2 to publish it b/c of the _ekf.global_position_is_valid() flag.

Also ideas on why the gps data in message VEHICLE_GLOBAL_POSITION only has 0.01 of precision?

Local_position_estimator details

Hi, I have developed a custom controller. I am accessing current altitude value from the file vehicle_local_position. altitude value that I am getting using local_position_estimator is always zero. If I use position_estimator_inav than it is working fine . I want to know which one is better among position_estimator_inav, local_position_estimator and ekf2?. and If I need to use local_position_estimator data than how can I use it?. Note : If I am uploading the px4 stack using qgroundcontrol than…