I’m testing PX4 external vision aiding using the Gazebo Ignition simulator, where I extract the x500 model pose from the dynamic_pose message. I then convert the pose from ENU to NED coordinates. The position change in the NED frame is published at 50Hz to the /fmu/in/vehicle_visual_odometry message. I’ve experimented with both including and excluding the rotation quaternion in the message.
I’ve tested this setup with different EKF configurations:
- EKF with GPS control (
CTRL=7) - EKF without GPS control
- EKF2_EV_CTRL set to values 1, 3, and 11
In all cases, the system works for a short period before the vehicle starts reappearing at its initial position, regardless of the configuration. I’ve also followed the PX4 documentation’s recommendation and used gzclock for simulation time synchronization.
I would appreciate any insights or suggestions for resolving this issue