Outdoor To Indoor Transitioning

I am setting up a state machine and algorithm set to perform outdoor/indoor and vice versa. I was wondering if there are any issues modifying the parameters on the fly to achieve this? For example, setting it up such that in the outdoor portion we would follow the traditional parameters. Before transitioning to indoor (while GPS is still valid and vehicle in flight) setup the parameters to listen to an onboard T265. I understand that this is highly experimental, however, would there exist anything fundamental in the software stack that would cause it too crash? Additionally, when transitioning from indoor/outdoor I would reverse the process. Execute the transition using vision guidance and then navigate upon that until seeing positive GPS fix and then transition back to the original parameters.