Is GPS + VIO Fusion tested on VOXL2?

[A Former User]

Hello,
I am using VOXL2 with system image 1.4.1 running PX4 v1.12.31. As shown in this link is it possible to fuse GPS + VIO in PX4 v1.12.31 with ekf2_aid_mask of 329?

Is this ekf mask of 329 tested on your development drones with voxl2?

I tried using HITL to test fusion but I never see External vision getting fused in EKF2 with ekf2 mask of 329. GPS and VIO individually work very well in HITL. Any idea of parameters to be used for testing fusion in HITL?

Any particular guidance you would like to give while testing GPS + VIO fusion would be highly appreciated.

[Chad Sweet]

That is not well supported in PX4 1.12. We are working on a PX4 1.14 port which should be much better supported. We hope to have an early access beta release of that in the end of March or so