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  the situation is: I bought a voxl to fly my drone outside in places where sometimes there is no gps signal. i.e., I start the flight with gps, then the gps signal disappears and I have to continue the flight or return using the VIO. every time everything starts fine, but at some point the drone loses position and goes into altitude mode. this happens both with and without a running gps. If I turn off the gps and use only VIO, then at some point the x y values ​​​​change sharply and the drone crashes or goes into altitude mode. what should I do? I fly with a ekf2_aid_mask 329. I need to urgently solve this problem.
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  @Matt-Turi Ah ok that sounds interesting might be worth a try. Good to know that. Thanks for the fast answer as always.
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  I'm not sure if you still have this problem, but if you know ROS, you can stream the cameras on your computer by configuring the drone to have the ROS master on your computer. First follow the steps at this link to setup ROS on RB5. https://docs.modalai.com/setup-ros-on-voxl-2/ Then you can set the ROS master to be on your computer by opening ~/.bashrc on the RB5 drone, and entering these lines in the file: export ROS_MASTER_URI=http://{PC_IP_ADDRESS}:11311/ export ROS_HOSTNAME={RB5_DRONE_IP} PC_IP_ADDRESS can be obtained from ipconfig on your computer. RB5_DRONE_IP is the one you use to ssh into it. Then on the drone: source ~/.bashrc On your computer execute: roscore Rviz On the drone execute: roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch You will then be able to view the camera display topics from voxl_mpa_to_ros on your computer. You can stream them on Rviz, and you can create ROS nodes to subscribe to these topics for whatever computer vision application you develop. Hope this helps.
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  @Eric-Katzfey OK good to know. Thanks for looking into that. Is there a good email I can reach out to discuss further with you?