# Setting Up VOXL2 VIO

Source: https://forum.modalai.com/topic/2434/setting-up-voxl2-vio
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-07-17 21:19:05 UTC by Aaron Porter
Replies: 0 · Views: 493

## Aaron Porter · 2023-07-17 21:19:05 UTC

Hello Modal AI,

  I am having a difficult time setting up the VOXL2 in VIO mode. My first Question is does VOXL2 support VIO and is it ready in VOXL SDK 1.0.0? I am also getting a message that the Height estimate not stable, so I am not sure what I am missing there is also an error with the AHRS when I click the "Not Ready" in QGC.  I still tried to arm the drone in QGC with the drone in Position mode and manual but no success obviously. 

What has been done so far:
  I have a tracking camera attached to the VOXL2 board. 
  Realized the Tracking Camera was upside down so fixed that still no luck 
  I am also connecting to the VOXL's PX4 instance via WiFi.
  I tried connecting a GPS module to the VOXL2 and enabling SYS_HAS_MAG then recalibrating through QGC.
  I tried to Disable the COM_ARM_EKF_HGT
 Enabled the Following Service:
    voxl-portal
    voxl-qvio_server
    voxl-cpu-monitor
    voxl-px4
    voxl-camera-server
    voxl-mavlink-server
    voxl-imu-server (Started voxl-px4-imu-server at the same time)

Thank you for your help