# Vio low frequency in Qgroundcontrol/ rc slow response

Source: https://forum.modalai.com/topic/2241/vio-low-frequency-in-qgroundcontrol-rc-slow-response
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: sentinel
Posted: 2023-06-08 17:41:12 UTC by stevedan
Replies: 8 · Views: 1640

## stevedan · 2023-06-08 17:41:12 UTC

@Eric-Katzfey Maybe you can help me fixed but the vio result on Qgroundcontrol is streaming at 1hz, and the reaction speed of the remote control on Qgroundcontrol is really bad. It reacts slow, is there something I am doing wrong
da55f918-135a-4636-a2b4-8bfb0f634445-image.png

What is strange is that from the drone, the vio data ms is fine voxl2:~$ voxl-inspect-qvio
waiting for server

dt(ms) | T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)|features|quality| state| error_codes |
29.3 | -0.00 -0.00 -0.00| -0.0 0.0 0.0| 28 | 27% | OKAY | 

This is a video of what I mean-> https://drive.google.com/drive/folders/122cPZ1S3Z_gP0yo8nipRGJHqpJTSj9c3?usp=sharing

## Reply by Eric Katzfey (ModalAI staff) · 2023-06-08 19:08:41 UTC

@stevedan Is this with original code or with the new code I just provided?

## Reply by stevedan · 2023-06-08 19:21:48 UTC (in reply to Eric Katzfey)

@Eric-Katzfey with the new code. I just calibrated and followed the steps on the sentinel integration page.

## Reply by stevedan · 2023-06-08 19:24:13 UTC (in reply to Eric Katzfey)

@Eric-Katzfey i used the software binding for the rc and setup the voxl px4 vision hub as usual.

## Reply by James Strawson (ModalAI staff) · 2023-06-09 17:07:01 UTC

@stevedan 

That's correct. QGC gets a low data rate stream for telemetry only, devices onboard VOXL can access much higher data rates without the wireless link bottleneck.

The "normal" telemetry mavlink data rates are defined by PX4 here:
https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp#L1490

The faster "onboard" data rates are defined here:
https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp#L1545

From a VOXL shell, you can use the new voxl-inspect-mavlink tool to see the actual data rates being sent by PX4.

```
voxl-inspect-mavlink mavlink_to_gcs
voxl-inspect-mavlink mavlink_onboard
```

Note, the configuration for the mavlink-to-gcs broadcaster lives here
https://github.com/modalai/px4-firmware/blob/voxl-dev/boards/modalai/voxl2/target/voxl-px4-start#L191

## Reply by stevedan · 2023-06-10 13:31:15 UTC (in reply to James Strawson)

@James-Strawson, is this documented somewhere because this change is different from the previous versions and it might seem like a problem when it isn't. I will fly the drone on Tuesday and give update on this.

## Reply by stevedan · 2023-06-13 10:47:48 UTC (in reply to James Strawson)

@James-Strawson Is it possible to modify this rates?

## Reply by Eric Katzfey (ModalAI staff) · 2023-06-13 15:58:35 UTC (in reply to stevedan)

@stevedan The mavlink rates are all configured in /usr/bin/voxl-px4-start. Look at the end of that file. You can change it to whatever you like.

## Reply by stevedan · 2023-06-15 08:11:11 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Thanks, problem solved.