Mode Loiter for Realsense T265

greetings all,
here I want to ask about the Realsense T265 camera to access it on pixhawk.

does Realsense T265 camera support for ardupilot 4.2.1 firmware? and if possible what parameters are changed in the EK3?

Because I have a problem, when I try to fly my drone with the latest firmware, when arming in Loiter mode, the drone won’t run. what do you think is the problem?

The problem is that you first need to make sure the drone works fine in stabalize
Then you need to set the home position and configure the companion computer properly, and only after that can you use loiter.