# Starling 2 qvio/odometry covariance all zeroes

Source: https://forum.modalai.com/topic/2699/starling-2-qvio-odometry-covariance-all-zeroes
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-09-27 19:48:48 UTC by Kashish Garg
Replies: 0 · Views: 516

## Kashish Garg · 2023-09-27 19:48:48 UTC

I read that the "quality" reported by the qvio process is generated from the covariance matrix of the onboard state estimation. 
After running voxl_mpa_to_ros, these covariance values are all set to zero. 
Is there any work around/configuration for the starling to report the actual covariance values it uses to generate the quality?