# Vision pose estimation problem, can not set home position

**URL:** <https://discuss.px4.io/t/vision-pose-estimation-problem-can-not-set-home-position/24871>\
**Category:** PX4 Autopilot\
**Created:** [November 3, 2021, 10:09am UTC](https://discuss.px4.io/t/vision-pose-estimation-problem-can-not-set-home-position/24871 "2021-11-03T10:09:43Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Cristian-wp](https://discuss.px4.io/user_avatar/discuss.px4.io/cristian-wp/32/6403_2.png) [@Cristian-wp](https://discuss.px4.io/u/Cristian-wp)\
**Post date:** [November 3, 2021, 10:09am UTC](https://discuss.px4.io/t/vision-pose-estimation-problem-can-not-set-home-position/24871/1 "2021-11-03T10:09:43Z")

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Hi! can someone help me with the vision pose estimation in indoor?

I have followed the tutorial and set:  
AID\_MASK to 24  
HGT\_MODE to Vision  
RNG\_AID to disabled

In my ulog files I can see the message:  
[ecl/EKF] starting vision pos fusion  
[ecl/EKF] starting vision yaw fusion

With QGC and with Mavros I check the local position and is correct respect to the tests position (move forward,rear, rotation on Z axis and roll and pitch) performed by hand in indoor.

But in the ros terminal I can not see the two above messages about fusion, and in the same terminal I constantly get the following info and warning:

[warn] […] GP: No GPS fix  
[info] […] HP: requesting home position

My purpose is to fly in offboard mode, but I have not set it at the moment, because I wana check that the home position is set and correct. I have to set offboard before start the vision pose estimation?

Can someone help me please?