ethzasl_sensor_fusion ... no output data

[bilelxlab]

Hello,
we got a disturbing problem here. We've set up ethzasl_ptam and asctec_mav_framework to use it on our pelican with ethzasl_sensor_fusion.

-ptam delivere the expected data (/vslam/pose).
-mav_framework dont give any data when i rostopic echo /fcu/ekf_state_out
when i launch : rosrun asctec_hl_interface plot_position_input i have zero on all the graphs and it doesnt change if i move the pelican (/vslm/pose is well remapped and the data exists !!)

the sensor_fusion initialisation is good and there are no errors but the sensor_fusion dont deliver any data on the output. Neither on /fcu/ekf_state_in nor on /ssf_core/pose. Echo call stays empty.

We also configured the parameter files like described in the tutorial.

the remap we did on sensor_fusion launch file :
remap from="/pose_measurement" to="/vslam/pose"/
remap from="/hl_state_input" to="/fcu/ekf_state_out"/
the remap we did on fcu.aunch file :
remap from="/fcu/pose" to="/vslam/pose"/
remap from="/fcu/ekf_state_in" to="/correction"/

we made all the changes indicated on the tutorials except (5.2.2 Changing the RX Buffer Behaviour)

Can anybody tell us whats the problem?
We attached our rqt_graph.

[bilelxlab]

Hello again ... we noticed something weird when we rostopic echo /fcu/status :
header:
seq: 816
stamp:
secs: 1421166494
nsecs: 902796030
frame_id: fcu
battery_voltage: 11.5699996948
flight_mode_ll: Height
state_estimation: off <-------------------------- on my fcu_parameters.yaml i have (HighLevel_EKF)
position_control: off <-------------------------- on my fcu_parameters.yaml i have (HighLevel)
serial_interface_enabled: True
serial_interface_active: False
flight_time: 0.0
cpu_load: 49.0
motor_status: off
gps_status: GPS no fix
gps_num_satellites: 0
debug1: 0
debug2: 0
have_SSDK_parameters: True
tx_packets: 21337
tx_packets_good: 21337
rx_packets: 29658
rx_packets_good: 29658
timesync_offset: 5.4000000091e-05

even when i try to change the values using rqt_reconfigure the values dont change !!! in rostopic echo /fcu/status

do you know what is the problem ?