# Starling is making only 8 instead of following the path

Source: https://forum.modalai.com/topic/3229/starling-is-making-only-8-instead-of-following-the-path
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: mapping
Posted: 2024-03-18 13:12:16 UTC by muhammadbilal1
Replies: 4 · Views: 4052

## muhammadbilal1 · 2024-03-18 13:12:16 UTC

Hi,
    I recently bought the [VOXL 2 Starling Indoor and Outdoor SLAM & Autonomy Development Drone](https://www.modalai.com/products/starling?variant=47787343348016) from ModalAI.

My main purpose of purchasing this product is the use of Indoor SLAM and Autonomous flights. But, I am not satisfied with the product.

Initially, the drone wasn't creating the 3D map as shown in the [video](https://www.youtube.com/watch?v=gqlSKRP8prc), but unfortunately as of now I am just struggling with the feature.

In the beginning the mapper service wasn't installed over my VOXL2, I got the [instructions](https://forum.modalai.com/post/15388) and installed it somehow.

**Problem:**
Now, I can create the map (not perfect), but upon doing the "Plan to a Point" ---> "Go" ---> "Follow Path", the drone isn't following the path and it just hover and doesn't move.
If I switch the flight mode to "Offboard", the drone starts doing **8**.

Logs are attached below:
**Log # 1:**
https://review.px4.io/plot_app?log=b9497141-2f1b-4e55-8ebc-662d930ae9ee

**Log # 2:**
https://review.px4.io/plot_app?log=5ed85caf-a1b8-43d5-8205-45ea4ad5bccc

**Log # 3:**
https://review.px4.io/plot_app?log=7b315b3b-e2b5-4969-97ad-10aae12823df

**Pictures of the map are also attached below:**

![map1.png](https://forum.modalai.com/assets/uploads/files/1710767501188-map1.png) 

![map2.png](https://forum.modalai.com/assets/uploads/files/1710767510340-map2.png) 

![map3.png](https://forum.modalai.com/assets/uploads/files/1710767516869-map3.png)

## Reply by muhammadbilal1 · 2024-03-18 15:12:30 UTC

@Alex-Kushleyev @Vinny @Eric-Katzfey @modaltb 
Your early response will be appreciated.
Thank you

## Reply by Moderator (ModalAI staff) · 2024-03-18 16:39:25 UTC (in reply to muhammadbilal1)

@muhammadbilal1 please see docs here: https://docs.modalai.com/setting-up-voxl-mapper/

## Reply by muhammadbilal1 · 2024-03-19 12:21:19 UTC (in reply to Moderator)

@Moderator I was able to do the flight after setting ""offboard_mode":    "trajectory",".
But, I am only able to set 1 point (Plan to a Point) on the map.

Is this possible to setup a complete mission instead of only putting a single point at once?

## Reply by Moderator (ModalAI staff) · 2024-03-19 14:47:21 UTC (in reply to muhammadbilal1)

@muhammadbilal1 at this point, the gui only provides a single point as input. The code is all open so our customers can modify how they see fit. We are happy to incorporate merge requests if you have a feature you'd like to be incorporated into mainline