# VOXL2 mini and Extrinsics file

Source: https://forum.modalai.com/topic/2643/voxl2-mini-and-extrinsics-file
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2-mini
Posted: 2023-09-11 14:56:27 UTC by Aaron Porter
Replies: 1 · Views: 829

## Aaron Porter · 2023-09-11 14:56:27 UTC

Hello

  I have a question about the VOXL2 mini's extrinsics file and using voxl-qvio-server. I reinstalled the VOXL2 mini SDK 1.0 on to the VOXL2 mini. The extrinsics file has the values for IMU0 and IMU1. When I check voxl-inspect-services, I can see that voxl-imu-server is running. 
![m500 extrin.png](https://forum.modalai.com/assets/uploads/files/1694444173449-m500-extrin.png) 
![Original File.png](https://forum.modalai.com/assets/uploads/files/1694444181711-original-file.png) 

However voxl-qvio-server is reporting an error when I look at the page using voxl-portal. The error is that IMU_MISSING. I know on the VOXL2 the IMUs are separated as IMU_APP and IMU_PX4. So I tried switching the extrinsics file to the Starling_V2 but then IMU Server is reporting an error.

![V2 extrin.png](https://forum.modalai.com/assets/uploads/files/1694444149379-v2-extrin.png) 
![Screenshot 2023-09-11 094504.png](https://forum.modalai.com/assets/uploads/files/1694444158376-screenshot-2023-09-11-094504.png) 

How can I fix this?

Thank you,
Aaron Porter

## Reply by Aaron Porter · 2023-09-11 16:52:33 UTC

@Aaron-Porter So I made a mistake that the IMU-server was not running during my screen shots. But I figured out the issue. Yo can use the starling file you have to run the command, 
```
voxl-configure-qvio factory_enable_imu_apps
``` 

This will tell qvio-server to look for imu_apps instead of imu0.