ExternalNav Visual Odometry Problem in AltHold

ArduCopter Copter 4.3
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1

My EKF params are
EK3_SRC1_POSXY,6
EK3_SRC1_VELXY,6
EK3_SRC1_POSZ,1 (use baro)
EK3_SRC1_VELZ,6
EK3_SRC1_YAW,6

When takeoff in Althold mode, drone can not control altitude.
In CTUN, AltHold seems to use the value from Visual Odometry, not the value from barometer.

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image853×825 77.2 KB

This is my log

2

More than that The drone cannot take control of its position in this Loiter mode.

I’ve checked the position and velocity provided by Visual Odometry.
It’s precise.