# Parameters for EKF2\_EV\_DELAY

**URL:** <https://discuss.px4.io/t/parameters-for-ekf2-ev-delay/42445>\
**Category:** PX4 Autopilot\
**Created:** [November 15, 2024, 3:11pm UTC](https://discuss.px4.io/t/parameters-for-ekf2-ev-delay/42445 "2024-11-15T15:11:49Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![Jimi1811](https://discuss.px4.io/user_avatar/discuss.px4.io/jimi1811/32/16197_2.png) [@Jimi1811](https://discuss.px4.io/u/Jimi1811)\
**Post date:** [November 15, 2024, 3:11pm UTC](https://discuss.px4.io/t/parameters-for-ekf2-ev-delay/42445/1 "2024-11-15T15:11:49Z")

</div>

Hello! I am using a Holybro Jetson Pixhawk Baseboard, where the companion (Jetson Orin NX) and FC (6x pro) have DDS communication through ethernet.

I want to implement visual slam for drone localization. According to documentation, I have to compare 2 values from a log. I got it after moving the drone manually in x, y and z after 2 minutes.

I couldn’t find the variables that the image shows, but I found:

- vehicle\_attitude/q.00
- vehicle\_visual\_odometry/q.00

I am not too sure how to interpret the plots and how to obtain the value. Here is the plot:

 ![image](https://discuss.px4.io/uploads/default/original/3X/0/b/0b6182c24e1b5b3cdcda140a9f32cefaa0e881be.jpeg)

And zooming:

 ![image](https://discuss.px4.io/uploads/default/original/3X/5/1/51692e595fa280421f92b6c1a5a0a7cd4c46bad4.jpeg)

I understand that vehicle\_attitude is the generated by internal sensors, and visual, the camera. But there are points where visual is before attitude.

I would greatly appreciate any guidance on how to interpret these plots and obtain the values I need.

Thanks!