# Can't find EKF2\_AID\_MASK in PX4 v1.15.4

**URL:** <https://discuss.px4.io/t/cant-find-ekf2-aid-mask-in-px4-v1-15-4/46664>\
**Category:** Uncategorized\
**Created:** [July 26, 2025, 1:11am UTC](https://discuss.px4.io/t/cant-find-ekf2-aid-mask-in-px4-v1-15-4/46664 "2025-07-26T01:11:08Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Jena\_Rohi](https://discuss.px4.io/user_avatar/discuss.px4.io/jena_rohi/32/19975_2.png) [@Jena\_Rohi](https://discuss.px4.io/u/Jena_Rohi)\
**Post date:** [July 26, 2025, 1:11am UTC](https://discuss.px4.io/t/cant-find-ekf2-aid-mask-in-px4-v1-15-4/46664/1 "2025-07-26T01:11:08Z")

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Hi,  
I’m using PX4 v1.15.4 (stable) and I can’t find the parameter **`EKF2_AID_MASK`** in QGroundControl

I’m tryping to give vision feed to my pixhawk 6c mini via telem 2 port,

I’m using an external camera with range finder and trying to implement optical flow. The external camera is connected to raspberry and raspberry pi performs the optical flow algorithms.

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**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\
**Post date:** [July 26, 2025, 1:13am UTC](https://discuss.px4.io/t/cant-find-ekf2-aid-mask-in-px4-v1-15-4/46664/2 "2025-07-26T01:13:12Z")

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> [@Jena\_Rohi](#):
>
> **`EKF2_AID_MASK`**

Where did you see information about this param? I can’t find it in the reference: [Parameter Reference | PX4 Guide (v1.15)](https://docs.px4.io/v1.15/en/advanced_config/parameter_reference.html)

Seen these docs?

> **[Computer Vision (Optical Flow, MoCap, VIO, Avoidance) | PX4 Guide (main)](https://docs.px4.io/v1.15/en/advanced/computer_vision.html#computer-vision-optical-flow-mocap-vio-avoidance)**
>
> PX4 User and Developer Guide

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<div class="post-metadata">

**Author:** ![Jena\_Rohi](https://discuss.px4.io/user_avatar/discuss.px4.io/jena_rohi/32/19975_2.png) [@Jena\_Rohi](https://discuss.px4.io/u/Jena_Rohi)\
**Post date:** [July 26, 2025, 7:28am UTC](https://discuss.px4.io/t/cant-find-ekf2-aid-mask-in-px4-v1-15-4/46664/3 "2025-07-26T07:28:04Z")

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The `EKF2_AID_MASK` parameter existed in earlier PX4 versions (e.g., v1.12) and was used to configure sensor fusion inputs like GPS, optical flow, and vision.

I can’t find this parameter in v1.15.4 or the current documentation, so I’m trying to understand if it has been removed, renamed, or replaced by a different configuration method.

**My setup** :

- Realsense D435i → Raspberry Pi 5
- Raspberry Pi 5 ↔ Pixhawk 6c mini [PX4 v1.15.4(stable) via UART (TELEM2)]

I’d appreciate guidance on how to:

1. Feed vision pose (e.g. VIO or odometry) into PX4 over UART
2. Configure PX4 v1.15.4 to fuse this external vision data

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**Author:** ![Benja](https://discuss.px4.io/user_avatar/discuss.px4.io/benja/32/11872_2.png) [@Benja](https://discuss.px4.io/u/Benja)\
**Post date:** [July 26, 2025, 9:37am UTC](https://discuss.px4.io/t/cant-find-ekf2-aid-mask-in-px4-v1-15-4/46664/4 "2025-07-26T09:37:02Z")

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That parameter was removed on 1.15  
It has been replaced by the EKF2\_\*\*\*\_CTRL parameters

Like EKF2\_EV\_CTRL