<![CDATA[GPS/VIO EKF2 switch]]>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

]]>https://forum.modalai.com/topic/1507/gps-vio-ekf2-switchRSS for NodeWed, 15 Apr 2026 20:19:10 GMTMon, 31 Oct 2022 21:12:17 GMT60<![CDATA[Reply to GPS/VIO EKF2 switch on Fri, 04 Nov 2022 22:06:04 GMT]]>Roger that, thank you!

]]>https://forum.modalai.com/post/7084https://forum.modalai.com/post/7084Fri, 04 Nov 2022 22:06:04 GMT<![CDATA[Reply to GPS/VIO EKF2 switch on Thu, 03 Nov 2022 15:17:44 GMT]]>There's new work on the PX4 tip that might help: https://github.com/PX4/PX4-Autopilot/pull/19128

]]>https://forum.modalai.com/post/7061https://forum.modalai.com/post/7061Thu, 03 Nov 2022 15:17:44 GMT