px4 mavros wrong local position with vision fusion

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HI. I don't know where to crash my head, hope you can help me (really sorry to bother you): I can't understand why the two poses (slam - yellow || mavros local position - turquoise) and relative odoms ( green || red respectively) are so different? From the px4 side I triple-checked the bit mask on EKF2_AID_MASK and yes, I'm using EKF2