Receiving uORB messages in Simulink with PX4

We are attempting to send optical flow messages with MAVROS rqt to our Pixhawk. We are using Simulink to monitor the uORB messages received by the Pixhawk. Despite being able to send and receive some messages, we are not able to receive optical flow messages.
Our qeustions are:

  1. Why are we not able to receive optical flow messages in our Simulink window?

  2. Does the mode (e.g. offboard, manual, etc…) affect ability to receive uORB messages?

  3. Which module is responsible for changing the mode?

  4. How does mode affect using the EKF? Can EKF be used in any mode?

An image for reference:

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