Hi, I am using 4.6.0.25 on a quad for indoor flights on a flat surface. I use external vision position for autonomous navigation and have a rangefinder which I have configured as the main source for altitude. The issue I face is that sometimes the vision position does not initialize exactly in (0,0,0) and when this happens I am surprisingly getting bad altitude estimations in the EKF. I initially thought this could be caused by the baro, but it does not seem to be the case as the estimation is initialized close to the vision position estimation. Any help is very much appreciated.
The first step os to update to 4.6.3 and retest