Use only some VIO fields



I’m using some on-board methods that give an XY position and want to send this to PX4, I believe this is correct message: (via MAVROS listening to vision_pose tf in ROS)

What is the recommended way to tell px4 to ignore parts of the vision message (like orientation and z position)? should I,
just set a high variance/co-variance on the items to be ignored? or is there a better way to “false” out unused variables?



Ignoring the yaw would be fairly easy by setting the EKF2_AID_MASK parameter accordingly (uncheck “vision yaw”). Not sure what the best way would be to ignore the vision height