T265 and PX4 VIO

Hello Everyone.

I am running PX4 and Jetson TX2 with ROS. Also, I am running realsense T265 to do indoor flights. I have followed this tutorial from the PX4 official website to run the PX4 with T265.
The issue I am facing now is when I have to change to position control mode in Qgroundcontrol, I got “Reject position control”.
I have changed these parameters EKF2_AID_MASK, EKF2_HGT_MODE, EKF2_EV_DELAY, EKF2_EV_POS_X, EKF2_EV_POS_Y, EKF2_EV_POS_Z but still have the message “reject position control”. Also in “Local_position_ned” I have values x = 0, y = 0, z = 0.0088, vx = 0.001, vy = 0.003, vz = 0.01.
I need help, please.

Normally you need GPS lock at a certain accuracy to use Position Control.
Not sure how you will position control indoors.

Thank you so much for your reply. Actually, In the PX4 tutorial for indoor flights using realsense T265 they say to put the control mode into position control. I have set up the parameter to use vision as a pose reference instead of GPS. btw, thank you so much again.

The “Reject position control” message is probably coming up because of high innovation measurements.
The VIO measurements being fed in likely aren’t close to the EKF predictions.
Posting a log would help with diagnosing the issue.