[image: 1656071003393-993cf791-fa28-467f-8f63-e908d1c29727-image.png] This now the only thing I get. So there is no intrinsics or extrinsics files for right/left/stereo & tracking. I will do the camera calibration then. Thanks

Hi Chad, We are using the VOXL-Flight board with the tracking camera as the QVIO camera and also a SF20 Lidar as altitude range aid. We wrote our VOXL code to enable the OffBoard mode, and in order to receive position local ned parameters (X, Y, Z, YAW) from a ground GUI application via the wifi medium. We use your recommended PX4's indoor parameters and board's extrinsic for the VOXL-Flight board (with a tracking a position shift according to our camera emplacement / self mounted 45 degrees down). We tried to suspend and resume the imu pipe in the QVIO server to solve the problem, and also disabled the vision possibility to perform hard reset of the QVIO and let our manual pilot deal with the drone in order to understand the problem and prevent unpredictable uncontrolled navigation We also execute your QVIO inspection and print additional QVIO & position debug information in a ssh terminals to the VOXL board. We use station wifi's mode, and we get errors regardless the PX4 mode (position/ offboard, etc). We try to rule the drone from the takeoff to the land using position commands & maximal MPC velocities (x,v,z,yaw) using the PX4 offboard mode in GPS denied environment. Are you acquainted with this problem (problem only with the imu pipe side in the QVIO server)? Thanks, Erez

thanks for your helping

We have not done a direct comparison. In general though, all of those systems typically achieve 1-1.5% drift over distance which is something we see pretty consistently with the qvio-server

Our software found on Gitlab is only licensed to run on ModalAI hardware. It is difficult for us to support hardware we did not build and do not have traceability on build quality and test.

Documentation updated here!