Our current setup- Pixhawk running ardupilot, Raspberry pi connected to it through usb, communication using mavutil. Camera and lidar are connected to rpi, where our algorithm gives position. The position is being sent to pixhawk through the vision_position_estimate message.
The ekf source parameters are set to external source.
Problems faced-
- mode change to loiter failed or prearm check: need position estimate. We have confirmed that the local position ned changes based on what we sent. Ekf origin as well as home position has been set. We are sending at an avg of 8Hz. How can we solve it?
- EKF3 IMU0 stopped aiding, EKF3 IMU0 is using external nav data,EKF3 IMU0 initial pos NED = 0.1,-0.0,-0.1 (m). We get this when disarmed. Our suspicion is that the other message being printed which said that altitude was being set to 0m while our estimate was giving 5cm was causing it. This disappears after arming. Is this a serious problem?
All GPS related fields have been set to disabled and there is no gps module connected to it.
when we are using vision_position_estimate what should be the values for ek3_src_velxy and velz?
Here is a log of us demonstrating the issue. Z value has been sent as 0 because of the second issue which would cause the ekf variance to increase in z, which could hinder in diagnosing the actual issue.
2026-03-27 23-17-21.tlog (519.8 KB)
I saw an old post where someone said it worked in an older version. Will downgrading work?