[Bug] When fusing vision pose data, typhoon h480 experiences severe yaw setpoint change out of OFFBOARD mode

[Shawn-Ricardo]

Describe the bug

Only when fusing vision pose (position, height, and yaw) via mavros/vision_pose/pose_cov, transition out of OFFBOARD (e.g., HOLD / AUTO.LAND) result in a severe yaw setpoint change

To Reproduce

1. Set PX4 parameters for vision input

2. Publishing to /mavros/setpoint_position/local and /mavros/vision_pose/pose_cov at 10hz
3. Set OFFBOARD via QGroundControl.
4. Armed via QGroundControl
5. When drone arrives at setpoint (1m in height), commander land in PX4 terminal

Expected behavior

Expected behavior is for the hexacopter to maintain its heading when transitioning out of OFFBOARDmode and into AUTO.LAND mode, as described in Land Mode (Multicopter)

Screenshot / Media

https://github.com/PX4/PX4-Autopilot/assets/64225889/7db3e56e-fe70-4411-99d5-6519009e78a7

Flight Log

Flight log without vision pose input -- no severe yaw change when transitioning from OFFBOARD to LAND

Flight log with vision pose input -- severe yaw change when transitioning from OFFBOARDto LAND

Software Version

Ran make px4_sitl gazebo-classic_typhoon_h480 in PX4 directory on commit eeb9c5256ad4991d788e5388499f2880c67d1404

Flight controller

PX4 Simulation / Typhoon h480

Vehicle type

Multicopter

How are the different components wired up (including port information)

MAVROS with fcu_url:=udp://:14540@localhost:14580" for vision_pose publication and setpoint publication QGroundControl from within WSL, as described here

Additional context

No response

[Shawn-Ricardo]

Had asked in PX4 discussions a few months ago, with no resolution from the community

[Shawn-Ricardo]

Hi @beniaminopozzan , do you have any guidance on the issue above or is there someone else to possibly ask for support?

[beniaminopozzan]

Hi @Shawn-Ricardo , I don't sorry. This is an "old" issue (#18781). My guess is that it is related to something in the EKF but I never have time to investigate it further.