# BUG: VOXL2-based Sentinel voxl-qvio-server crashes after 1-2 mins of Flight

Source: https://forum.modalai.com/topic/1336/bug-voxl2-based-sentinel-voxl-qvio-server-crashes-after-1-2-mins-of-flight
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2022-09-14 18:51:45 UTC by Daniel Ryu
Replies: 0 · Views: 903

## Daniel Ryu · 2022-09-14 18:51:45 UTC

Hello,

Currently, when we try and fly the Sentinel VOXL2-based drone in VIO mode without GPS manually with RC transmitter, the voxl-qvio-server goes into a FAIL state in 1-2 minutes after flying. By running voxl-inspect-qvio, we determined that the error messages returned when the voxl-qvio-server crashes are IMU_BW and IMU_BW_BAD_CAM_CAL. We are using the default tracking camera calibration that came with the Sentinel. 

In flight, there is an average of 20ish features at all times during the flight. However, the average q-value (quality) is between 0-20% (fails at -1).