# VIO flight capabilities

Source: https://forum.modalai.com/topic/1319/vio-flight-capabilities
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2022-09-13 00:54:50 UTC by Kris
Replies: 4 · Views: 2783

## Kris · 2022-09-13 00:54:50 UTC

Hello,
I have a question about VIO.

In the PX4 documentation about VIO, it states that it is possible to recalibrate the VIO to use a stereo camera instead of the tracking camera if used purely as an indoor application.

![VIO-r.png](https://forum.modalai.com/assets/uploads/files/1663030252651-vio-r.png) 

However, I am not able to find a documentation about setting this up to be used on the Seeker.

Is is possible to enable both the tracking camera and a stereo camera to be used for VIO indoor flights for better GPS denied indoor positioning?

Thank you in advance.

## Reply by Kris · 2023-02-21 08:53:38 UTC

I’m not sure if my post was overlooked or not, but could someone please help me out with this?
How can I recalibrate one of the stereo cameras to be used for VIO, solely for indoor flights?

## Reply by Steve Turner · 2023-02-24 15:36:28 UTC

You can change the QVIO server to use a stereo camera if you want in the front, but these are much narrower FOV.

https://docs.modalai.com/configure-extrinsics/ would need to be adjusted to accommodate any camera location changes as well. This is not something supported out of the box with the current VOXL software and would require some work on your part to make it fit your platform and camera configuration.

## Reply by Kris · 2023-03-01 01:05:53 UTC (in reply to Steve Turner)

@Steve-Turner 
Thank you for your help.
I will give that a try.

## Reply by Kris · 2023-03-08 00:29:47 UTC (in reply to Steve Turner)

@Steve-Turner 
Thank you for your help.
I realize you are not part of the ModalAi Dev Team, but I would like to ask for your help with this. 
There is more information that I have posted on this [thread](https://forum.modalai.com/topic/1863/reconfiguring-vio/2).
I am lost, and would really appreciate any kind of help you could provide.

Thank you.