# GPS/VIO EKF2 switch

Source: https://forum.modalai.com/topic/1507/gps-vio-ekf2-switch
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl-flight
Posted: 2022-10-31 21:12:17 UTC by wilkinsaf
Replies: 2 · Views: 1136

## wilkinsaf · 2022-10-31 21:12:17 UTC

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](https://docs.modalai.com/flying-without-gps/)

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

## Reply by Chad Sweet (ModalAI staff) · 2022-11-03 15:17:44 UTC

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

## Reply by wilkinsaf · 2022-11-04 22:06:04 UTC

Roger that, thank you!