GPS is used even after being removed from ek3 sources

I tried to fly with visual position estimation but the problem is it works fine when GPS is disconnected and it is totally unstable when GPS is connected

I removed gps in all EK3_SRCx and “fuse all velocities” =0 but seems it still uses GPS because when GPS has a big drift it shows ground speed around 9m/s when the drone is not moving

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Hi, I was flying with optical flow without gps, I’ve seen the speed too, could it just be some output from EKF3?

And maybe you have some problems like this: