efk2 无法融合视觉信息且不断报错 requesting home position

根据XTDrone的教程[EKF配置](https://www.yuque.com/xtdrone/manual_cn/ekf_settings)，修改rcS中的参数：
```
	# GPS used
	#param set EKF2_AID_MASK 1
	# Vision used and GPS denied
	param set EKF2_AID_MASK 24

# Barometer used for hight measurement
	#param set EKF2_HGT_MODE 0
	# Barometer denied and vision used for hight measurement
	param set EKF2_HGT_MODE 3
```
并且删除存储的参数：
```shell
rm ~/.ros/eeprom/parameters*
rm -rf ~/.ros/sitl*
```
之后在`mavros_posix_sitl.launch`中给无人机添加双目相机：
```xml
    
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    
    <arg name="my_camera" default="iris_stereo_camera"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
    
```
并且删除了`.ros/gazebo_models/iris_stereo_camera`，因为有点问题，让launch用px4里面的model
最后编写`.sh`文件
```shell
rosrun ORB_SLAM2 Stereo ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/catkin_ws/src/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml true
 /camera/left/image_raw:=/stereo/left/image_raw 
/camera/right/image_raw:=/stereo/right/image_raw 
/orbslam2/vision_pose/pose:=/mavros/vision_pose/pose
```
这一点和XTDrone的有不同，我现在就用一架，用`rostopic list`命令出来之后发现话题都不带`iris_0`，因此作了修改。

开始运行，系统可以拿到双目相机的图像，并且ORB运行正常：
![stereo](https://images.gitee.com/uploads/images/2022/0317/170438_162b7dfb_8073751.png "stereo.png")
但是并没有出现教程中说的，视觉信息融合成功的提示：
```
INFO  [ecl/EKF] 23860000: reset position to ev position
INFO  [ecl/EKF] 23860000: commencing external vision position fusion
INFO  [ecl/EKF] 23860000: commencing external vision yaw fusion
```
并且在不断地报错，hp: requesting home position
如图：
![error](https://images.gitee.com/uploads/images/2022/0317/170707_806065bd_8073751.png "2022-03-15 16-29-26 的屏幕截图.png")
问题表现为：没有视觉信息成功融合的提示，且无法起飞，无法进到offboard模式，始终报HP的错。我不太清楚是哪里出了问题，请求帮助，谢谢。
如果我直接用程序进offboard，会卡在offboard发送处，无法解锁：
![offboard](https://images.gitee.com/uploads/images/2022/0317/201519_bf1b0327_8073751.png "2022-03-17 20-08-18 的屏幕截图.png")
[我的offboard程序](https://gitee.com/hazyparker/my-research/blob/master/1_basic/src/takeoff_land.cpp)
```c++
ros::Time last_request = ros::Time::now();
    ROS_INFO("Off boarding");
    while(ros::ok()){
        if( current_state.mode != "OFFBOARD" &&
            (ros::Time::now() - last_request > ros::Duration(5.0))){
            if( set_mode_client.call(offb_set_mode) &&
                offb_set_mode.response.mode_sent){
                ROS_INFO("Off-board mode enabling...");
            }
            last_request = ros::Time::now();

} else {
            if( !current_state.armed &&
                (ros::Time::now() - last_request > ros::Duration(5.0))){
                if (current_state.mode != "OFFBOARD") ROS_INFO("Off board mode was shut unexpectedly");
                if( arming_client.call(arm_cmd) &&
                    arm_cmd.response.success){
                    ROS_INFO("Vehicle armed");
                }
                last_request = ros::Time::now();
            }
        }
```
下面附上我的项目链接[我的项目](https://gitee.com/hazyparker/my-research/tree/master/3_Onboard_SLAM)
thanks in advance.

GVP 肖昆/XTDrone

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GVP肖昆/XTDrone

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