Low publish rate on Mavros topics

I’m working on a indoor autonomous drone project and recently I found an issue in
the topics of MAVROS because the topics are being updated in a very low rate (at 1Hz) the topics i’ve noticed of having low update rate are: /mavros/local_position/odom , /mavros/local_position/pose
Now let me tell you the full procedure i’m doing…I’m using VINS_FUSION as odometry with d453i camera and using VIO(realsense bridge)to connect VINS and MAVROS(FCU)now the issue is as the drone doesn’t know its correct altitude of the real time coz of the slow update rate i’m getting some sort of disturbance in my autonomous flight also i’m using JETSON XAVIER on edge of drone to process everything.