How does voxl-vision-configuration parameters relate to PX4 parameters?

[Pey Astig]

For example, does having VIO to True, simply set PX4 parameters to use External Vision for EKF2? Do I have to change VIO and VOA to false if I'm doing an outdoor flight test?

[modaltb]

Hi Pey,

Enabling VIO in voxl-vision-px4 will, at a high level, tell VOXL to use do the processing required and then send the appropriate MAVLink packets to PX4, but it doesn't set any parameters in PX4 (similar with VOA, where it sends object distance packets).

If PX4 params aren't setup to use VIO (e.g. EKF2_AID_MASK) then PX4 will ignore this. So you have to configure PX4, see this:
https://gitlab.com/voxl-public/px4-parameters/-/blob/master/helpers/ekf2_indoor_vio.params

If you want to use GPS for outdoor flights, you could use these settings for example:

https://gitlab.com/voxl-public/px4-parameters/-/blob/master/helpers/ekf2_outdoor_gps_mag.params

[modaltb]

Quick note: one could set px4 parameters from VOXL using the following tool:

https://docs.modalai.com/voxl-vision-px4-nuttx-shell/