你需要参考EKF2_AID_MASK参数的设置，来使用vision pose定位。我们提供视觉定位无人机机型，比如使用T265跟踪相机进行定位。
https://docs.px4.io/v1.11/en/advanced_config/parameter_reference.html
**EKF2_AID_MASK** (INT32) Integer bitmask controlling data fusion and aiding methods
**Comment:** Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.
**Bitmask:**
* **0:** use GPS
* **1:** use optical flow
* **2:** inhibit IMU bias estimation
* **3:** vision position fusion
* **4:** vision yaw fusion
* **5:** multi-rotor drag fusion
* **6:** rotate external vision
* **7:** GPS yaw fusion
* **8:** vision velocity fusion
**Reboot required:** true