GPS/VIO EKF2 switch

[wilkinsaf]

Hello,

We have a UAV we would like to fly indoors and outdoors without landing during that transition.
I know that there is support for EKF2 GPS/VIO "fusion" using 329 as the EKF2_AID_MASK in PX4
Link to tutorial

We were thinking of manually changing the EKF2 bitmask when we fly indoors or outdoors.

My question is, are there any software/features available that would more easily support switching from GPS to VIO? Want to make sure I am not redoing work before I start.

Thank you

[Chad Sweet]

There's new work on the PX4 tip that might help: https://github.com/PX4/PX4-Autopilot/pull/19128

[wilkinsaf]

Roger that, thank you!