We want to use EKF2_AID_MASK = 9 (GPS+VIO). There is no problem when we use VIO only (with EKF2_AID_MASK = 8 and no GPS feedback present), but when we set EKF2_AID_MASK to 9 and when we stop the GPS in simulation the drone starts to drift. EKF2 does not trust the VIO measurements even when GPS does not supply any data. We also have experienced it in physical flights.
Here is the log file: https://logs.px4.io/plot_app?log=32b6ea3d-e85c-4dec-90f4-fb8f370a2c75
We have tried to modify gate sizes and noise parameters and results did not change.