VIO quality not published with odometry data

PX4 Autopilot
1

I’m trying to display the VIO quality in QGC. However, it seems like px4 doesn’t actually handle/calculate the quality for odometry data and just sets it to zero.

See https://github.com/modalai/px4-firmware/blob/7fbbdc31e8a61525777d8edcf8f339a738abf138/src/modules/ekf2/EKF2.cpp#L1667

void EKF2::PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu_sample)
{
	// generate vehicle odometry data
	vehicle_odometry_s odom;
	odom.timestamp_sample = imu_sample.time_us;

	// position
	odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED;
	_ekf.getPosition().copyTo(odom.position);

	// orientation quaternion
	_ekf.getQuaternion().copyTo(odom.q);

	// velocity
	odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED;
	_ekf.getVelocity().copyTo(odom.velocity);

	// angular_velocity
	const Vector3f rates{imu_sample.delta_ang / imu_sample.delta_ang_dt};
	const Vector3f angular_velocity = rates - _ekf.getGyroBias();
	angular_velocity.copyTo(odom.angular_velocity);

	// velocity covariances
	_ekf.getVelocityVariance().copyTo(odom.velocity_variance);

	// position covariances
	_ekf.getPositionVariance().copyTo(odom.position_variance);

	// orientation covariance
	_ekf.getQuaternionVariance().copyTo(odom.orientation_variance);

	odom.reset_counter = _ekf.get_quat_reset_count()
			     + _ekf.get_velNE_reset_count() + _ekf.get_velD_reset_count()
			     + _ekf.get_posNE_reset_count() + _ekf.get_posD_reset_count();

	odom.quality = 0;

	// publish vehicle odometry data
	odom.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
	_odometry_pub.publish(odom);
}

Is this how it’s supposed to work? How is the quality field of the ODOMETRY mavlink message supposed to be populated?