# ADFS (Adaptive data fusion system) support on VOXL2

Source: https://forum.modalai.com/topic/1574/adfs-adaptive-data-fusion-system-support-on-voxl2
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2022-11-26 04:44:56 UTC by Guest
Replies: 0 · Views: 274

## Guest · 2022-11-26 04:44:56 UTC

Hello folks,
 I am using voxl2 with system image 1.4.1 and modalai px4 firmware version 1.4.28. I wanted to check is there any support for ADFS (Adaptive data fusion system) on modalai px4 firmware on voxl2 which is present on voxl1 [over here](https://docs.modalai.com/flying-without-gps/) ? Basically I want to have GPS to VIO and vice versa transition on the fly with voxl2 px4 firmware. 
I went through firmware but couldn't find any leads. 

Can I use EKF2_AID_MASK to 329 directly for GPS + VIO fusion and expect similar behaviour as mentioned on above link with voxl2? Has this been tested?