using zedm camera

[Ron-yadin5]

im trying to use my zedm camera and make the correct modifications so it will work like the T265. this is where i got this far:

my issue: when i follow the guide in this post: https://discuss.ardupilot.org/t/integration-of-ardupilot-and-vio-tracking-camera-part-2-complete-installation-and-indoor-non-gps-flights/43405 I do get good values in the mavlink inspector https://ardupilot.org/dev/_images/ros-vio-check-data.png (not my picture but something like this). but when i do the ground test part i don't see the drone change pose in the mission planner screen

what my system looks like:

in FCU ardupilot params: AHRS_EKF_TYPE = 3 EK3_ENABLE = 1 GPS_TYPE = 0 to disable the GPS EK3_GPS_CHECK = 0 EK3_POSNE_M_NSE = 0.1 EK3_VELD_M_NSE = 0.1 EK3_VELNE_M_NSE = 0.1 COMPASS_USE1 = 0, COMPASS_USE2 = 0, COMPASS_USE3 = 0 VISO_TYPE = 1 EK3_SRC1_POSZ = 2 (rangefinder), same for SRC2, SRC3 EK3_SRC1_VELXY = 6 (ExternalNav), same for SRC2, SRC3 EK3_SRC1_VELZ = 6 (ExternalNav), same for SRC2, SRC3 EK3_SRC1_YAW = 6 (ExternalNav), same for SRC2, SRC3

for ros2: zedm - "ros2 launch zed_wrapper zedm.launch.py" mavros - " ros2 run mavros mavros_node --ros-args -p fcu_url:=/dev/ttyTHS0:115200 -p gcs_url:=udp://@127.0.0.1" bridge - "ros2 run zed_mavros_bridge pose_bridge_node". which is my own node that subscribes to the pose that zedm publishes and publishes it under the name "mavros/vision_pose/pose" (maybe this isn't enough and i need it to do more)