# Ekf2 aid mask

**URL:** <https://discuss.px4.io/t/ekf2-aid-mask/14636>\
**Category:** Uncategorized\
**Created:** [January 11, 2020, 1:10pm UTC](https://discuss.px4.io/t/ekf2-aid-mask/14636 "2020-01-11T13:10:43Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![Shashank\_Bhushan](https://discuss.px4.io/user_avatar/discuss.px4.io/shashank_bhushan/32/5365_2.png) [@Shashank\_Bhushan](https://discuss.px4.io/u/Shashank_Bhushan)\
**Post date:** [January 11, 2020, 1:10pm UTC](https://discuss.px4.io/t/ekf2-aid-mask/14636/1 "2020-01-11T13:10:43Z")

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Px4 version: 1.10  
Bitmask: as in developer guide

```auto
0: use GPS
1: use optical flow
2: inhibit IMU bias estimation
3: vision position fusion
4: vision yaw fusion
5: multi-rotor drag fusion
6: rotate external vision
7: GPS yaw fusion
8: vision velocity fusion

```

Bitmask displayed in QGC

```auto
0: use GPS
1: use optical flow
2: inhibit IMU bias estimation
3: vision position fusion
4: vision yaw fusion
5: multi-rotor drag fusion
6: rotate external vision
7: GPS yaw fusion

```

Missing Vision velocity fusion in version 1.10 . Am i missing something ?

Thanks!

---

<div class="post-metadata">

**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\
**Post date:** [January 14, 2020, 4:39am UTC](https://discuss.px4.io/t/ekf2-aid-mask/14636/2 "2020-01-14T04:39:09Z")

</div>

> [@Shashank\_Bhushan](#):
>
> GPS yaw fusion

This was cross posted to [Missing aid mask in EKF2 · Issue #13905 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/Firmware/issues/13905) and has been answered

> You need to use QGC daily or upload the firmware via QGC to get the metadata.  
> Or you can use `Advanced settings` and directly set the value.

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<div class="post-metadata">

**Author:** ![auturgy](https://discuss.px4.io/letter_avatar_proxy/v4/letter/a/e480ec/32.png) [@auturgy](https://discuss.px4.io/u/auturgy)\
**Post date:** [June 15, 2023, 9:22pm UTC](https://discuss.px4.io/t/ekf2-aid-mask/14636/4 "2023-06-15T21:22:14Z")

</div>

You’re using ArduPilot, which is different firmware with different parameters.