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    GPS/VIO EKF2 switch

    VOXL Flight
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    • wilkinsafW
      wilkinsaf Dev Team
      last edited by

      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

      1 Reply Last reply Reply Quote 1
      • Chad SweetC
        Chad Sweet Dev Team
        last edited by

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

        1 Reply Last reply Reply Quote 0
        • wilkinsafW
          wilkinsaf Dev Team
          last edited by

          Roger that, thank you!

          1 Reply Last reply Reply Quote 0
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