Does taking off using mav_cmd_nav_takeoff indoors without GPS work on the latest PX4 version?

I am working with an indoor drone which uses VIO to replace GPS. I’ve written a mavros application to control the drone. I typically have programmed the takeoff to use a position setpoint about 1 meter above the starting location of the drone when it is powered on.

Is it possible to use the mavros support for mav_cmd_nav_takeoff - implemented in the mavros takeoff service - to takeoff indoors? Or, will that still only work outdoors?