Position not locking with Vicon System

Hi folks,

I’m having trouble to lock the position in Position Mode, the drone enter in Position Mode but the LED does not turn green.

I have a Holybro X500 V2 airframe with Pixhawk5x. I’m using mocap (Vicon) via microRTPS bridge.

The drone drifts around and crash. I’ve tried to change the EKF2_DELAY parameter but without success.

Can someone help me with suggestions?

Here are some logs: