Transitioning from GPS to VIO

PX4 Autopilot
1

So currently, we are trying to set up our Drone so that it can transition from GPS to VIO based on going from outdoors to indoor. Currently, we can arm the drone when we have 0 satellites, and outdoors when we have good GPS readings. However the in between points are causing a problem. The QGC is reporting an error that there is no local position estimate. In addition, horizontal and vertical velocity are too high. Is there a way to have this work so that we can listen to the GPS satellites >= X and ignore when GPS satellites < X.

The Current Parameters that we have changed are:
EKF2_HGT_REF: GPS
EKF2_BARO_CTRL: 0
EKF2_GPS_CTRL: 7
EKF2_GPS_CHECK: 0

2

So we found that there is a branch of PX4 that allows for multi filtering which is possibly what we want to use. However we are looking to use a Stable release of PX4 and not versions that have been branched off ideally.