# VOXL2-based Sentinel voxl-qvio-server crashes

Source: https://forum.modalai.com/topic/1895/voxl2-based-sentinel-voxl-qvio-server-crashes
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2023-03-02 15:07:27 UTC by TPSetati
Replies: 2 · Views: 1206

## TPSetati · 2023-03-02 15:07:27 UTC

Good day

We have a VOXL2 Sentinel and we are experiencing a problem similar to that mentioned below. After a takeoff in position mode, the qvio error IMU_BW appears. From the source code, we can see that the IMU is complaining about the bandwidth, but from the information available it is not recommended to change the configuration of the IMU bandwidth or sampling rates.

Additionally, we are wondering why the IMU configuration file **voxl-imu-server.conf** only includes information for imu0 and a couple of auxiliary IMUs when the VOXL2 makes use of **imu_apps** and **imu_px4**? How do we know that the necessary changes we need to make to the configuration file actually apply to **imu_apps** needed for QVIO?

Re: [BUG: VOXL2-based Sentinel voxl-qvio-server crashes after 1-2 mins of Flight](/topic/1336/bug-voxl2-based-sentinel-voxl-qvio-server-crashes-after-1-2-mins-of-flight)

## Reply by Chad Sweet (ModalAI staff) · 2023-03-02 15:18:01 UTC

qvio-server uses imu_apps as that is what is connected to the CPU. imu_px4 is connected directly to the Flight DSP and configured in PX4 (so not configured by imu-server)

## Reply by TPSetati · 2023-04-03 07:54:37 UTC

Thank you. I got the VIO going on the drone. I noticed that when running the VIO server, the IMU_BW error kept coming up and that was the cause of the server's crash. Therefore, I increased the **limited_imu_bw_trigger** parameter in the voxl-qvio-server.conf arbitrarily to 100 and it worked fine.