# Does taking off using mav\_cmd\_nav\_takeoff indoors without GPS work on the latest PX4 version?

**URL:** <https://discuss.px4.io/t/does-taking-off-using-mav-cmd-nav-takeoff-indoors-without-gps-work-on-the-latest-px4-version/30000>\
**Category:** ROS 1 / ROS 2\
**Created:** [December 6, 2022, 7:26pm UTC](https://discuss.px4.io/t/does-taking-off-using-mav-cmd-nav-takeoff-indoors-without-gps-work-on-the-latest-px4-version/30000 "2022-12-06T19:26:49Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![m1baldwin](https://discuss.px4.io/user_avatar/discuss.px4.io/m1baldwin/32/7468_2.png) [@m1baldwin](https://discuss.px4.io/u/m1baldwin)\
**Post date:** [December 6, 2022, 7:26pm UTC](https://discuss.px4.io/t/does-taking-off-using-mav-cmd-nav-takeoff-indoors-without-gps-work-on-the-latest-px4-version/30000/1 "2022-12-06T19:26:49Z")

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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?