Mocap_fake_gps with EKF2


I am trying to use mavros mocap_fake_gps.cpp plugin in order to convert MOCAP data to fake gps coords in order to fly the vehicle indoors, while testing EKF2.

I was able to send fake gps data, switch to ALTHOLD as well as POSHOLD. It performs fairly well in ALTHOLD mode. However, when I switch to POSHOLD, it starts to do toilet bowl effect.

Can some body comment on that?