asctec_hl_interface tutorial problem revisited

[ghost]

Hello Everyone
Im tring to figure out the HLP position control tutorial for quite some tine now.
http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control

1. I have set state_estimation: HighLevel_SSDK and position_control : HighLevel in the fcu_parametesr.launch . rostopic echo /fcu/status confirms the status. but in gynamic reconfigure gui of fcu the state_estimation and position_control is set to OFF. is this normal?
2. im using ethzasl_ptam for pose estimation and remappping /vslam/pose to /fcu/pose . In sanity check 4.1.2 when i rotate the pelican around its Z axis (yaw) the valus for x and y readings also change which should not happen. what is ment by sending body fixed coordinates. ?
3. plot_filter_bias shows the gains converginng to -0.49 to -0.52 which should be between +-0.1 m/s2. i changed the poles = [-15,-3,-0.2]; in matlab which gave me L = 18.20 48.60 9.00 . when i plugged these values in ssdk_parameters.launch file. the gains converged to +-0.1 but very slowly .
   what could be the problem ?

Thanks
Farhan