# No Odometry in QGC through MAVLink

Source: https://forum.modalai.com/topic/2633/no-odometry-in-qgc-through-mavlink
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-09-07 13:36:57 UTC by SMRazaRizvi
Replies: 6 · Views: 1488

## SMRazaRizvi · 2023-09-07 13:36:57 UTC

Problem: My Sentinel drone with VOXL SDK 1.0, drifts when I take off. It drifts a lot when I take off in `Manual` mode, and when I take off in `Position` mode, it drifts with a blow of wind.

One of the problems I noticed is that I cannot see `Odometry` messages inside the MAVLink Inspector, and the frequency of `LOCAL_POSITION_NED` is also 1.0 Hz.
How can I enable Odometry and also increase the frequency of `LOCAL_POSITION_NED` ?

![cc9b318f-79c6-4361-aa6f-22ecfdecf886-image.png](https://forum.modalai.com/assets/uploads/files/1694093741701-cc9b318f-79c6-4361-aa6f-22ecfdecf886-image.png)

## Reply by SMRazaRizvi · 2023-09-12 14:20:03 UTC

@SMRazaRizvi @Moderator ?

## Reply by Jetson Nano · 2023-11-23 14:19:33 UTC (in reply to SMRazaRizvi)

@SMRazaRizvi Make sure your vio is running, and there are certain parameters that needs to be enabled in QGC for it to hold position, check whether you have done it

## Reply by SMRazaRizvi · 2023-11-23 19:32:15 UTC (in reply to Jetson Nano)

@Jetson-Nano Can you please mention those parameters here, and their correct values?

## Reply by Jetson Nano · 2023-11-30 06:17:47 UTC (in reply to SMRazaRizvi)

@SMRazaRizvi Sorry for the delayed response 

for PX4 version 1.14 the paramters are https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/indoor_vio.params

for PX4 version 1.12 the paramters are https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.12/ekf2_indoor_vio.params

## Reply by SMRazaRizvi · 2023-12-04 15:18:22 UTC (in reply to Jetson Nano)

@Jetson-Nano 
Thank you for your response.

But these are the parameters for indoor, I am testing outdoors.

I tried

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/outdoor_gps_baro.params

+

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/Sentinel_V1.params

But still same issue.

## Reply by Jetson Nano · 2023-12-06 08:45:29 UTC (in reply to SMRazaRizvi)

@SMRazaRizvi You have to setup GPS and make EKF Aid mask use GPS, and I don't think using GPS will give you odometry data, you might get some sort of global position which helps you hold position and navigate