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Finally figured out, pose estimation package requires gps sensor_msgs/NavSatFix data. Now I can get position (x, y) estimated. Also I noticed some strange behavior - algorithm estimated that quadrotor is falling (estimated altitude was negative), because IMU sensor Z axis was -9,8. I had to invert IMU's Z axis value to get the algorithm stabilize quadcopter's altitude.

Hope this helps if someone encounter similar problem.

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