# QVIO after breakdowns returns bad

Source: https://forum.modalai.com/topic/2216/qvio-after-breakdowns-returns-bad
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl-cam
Posted: 2023-06-01 14:23:13 UTC by Gdanan
Replies: 2 · Views: 664

## Gdanan · 2023-06-01 14:23:13 UTC

After a few tests with the QVIO, I saw numerous times that when it breaks (quality is equal -1), after the hard reset, the QVIO velocity output is incorrect and diverges very quickly, and then resets the QVIO for a couple of times.
I see this behavior more frequently when I fly outdoors above 15 meters, even in slight maneuvers.
Am I missing something? according to the spec the QVIO should be working up to 122 [m] above the ground.

## Reply by Chad Sweet (ModalAI staff) · 2023-06-01 14:33:23 UTC

Have you reviewed the troubleshooting VIO document? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

Where do you see a spec for 122m? We would not expect it to work that high

## Reply by Gdanan · 2023-06-04 09:37:49 UTC

Yes, I have reviewed it. I observed through voxl-inspect-vibration that there is a significant amount of noise in the IMU (indicated by the red color). As a solution, I replaced the dampers, which helped to some extent. However, these phenomena still occur. Most of the IMU values are indicated in yellow color. Could this be the possible cause?

I noticed this information in the seeker drone spec, so I understand that you were referring to flying with GPS. In that case, what is the maximum height at which the QVIO can fly and still maintain stability?