voxl-vision-px4 supports both indoor and outdoor flight. Currently the best performance is if the drone is configured for one mode or the other, but if you are comfortable working with PX4’s EKF flying from outdoors to GPS-denied is possible.
To enable GPS, the
EKF2_AID_MASK needs to have “bit 0” enabled.
To make this easier, we have a paremeters file helper located here.
The parameters listed above will configure for outdoor flight with GPS, magnetometer, and Barometer, but without computer vision(VIO).