# Odometry - PX4 is NOT Getting VIO Data - QGroundControl

Source: https://forum.modalai.com/topic/3320/odometry-px4-is-not-getting-vio-data-qgroundcontrol
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2024-04-12 12:05:20 UTC by Adriano Del Pino Lino
Replies: 3 · Views: 1369

## Adriano Del Pino Lino · 2024-04-12 12:05:20 UTC

Hi guys, how are you doing?

Check this out, please:
- Problem: VIO odometry data does not showing up into PX4 QGroundControl.
- Drone: Sentinel, SDK: 1.1.3 was 0.95, Sensors removed: Rear Stereo, GPS and 5G. Sensor installed: TOF. Reconfigured and recalibrated.
- Services: voxl-inspect-qvio is showing perfect, also vox-portal, many features in the tracking camera;

EKF2_AID_MASK configured as (https://docs.modalai.com/sentinel-user-guide-using-vio/#flying-with-vio)

Questions:
1) Should the odometry message continue to appear into PX4 QGroundControl in SDK version 1.1.3 like here ? 
https://docs.modalai.com/sentinel-user-guide-using-vio/#sentinel-vio

2) Confirm that EKF2_AID_MASK must be configured in SDK 1.1.3 version. I would like this confirmation because this parameter is in version 1.12 of px4, but it does not appear in 1.14 PX4 modalAI gitlab.
Source: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/tree/master/params?ref_type=heads

## Reply by tom (ModalAI staff) · 2024-04-12 17:14:32 UTC

@Adriano-Del-Pino-Lino Can you run `voxl-configure-px4-params -w` and navigate to `v1.14/EKF2_helpers/` and load the `indoor_vio` params? Then reboot and see if anything changes

## Reply by Adriano Del Pino Lino · 2024-04-19 12:01:27 UTC (in reply to tom)

Hi @tom,

The problem still there, without odometry.
![forum19042024-1.jpg](https://forum.modalai.com/assets/uploads/files/1713528074975-forum19042024-1.jpg) 
![forum19042024-2.jpg](https://forum.modalai.com/assets/uploads/files/1713528085018-forum19042024-2.jpg) 

Could you answer those questions, please.
I would like to understand if in any current version of Sentinel (SDK 1.1.3) the odometry message in QGroundControl should continue to appear.

Thanks!
Adriano Lino

## Reply by Eric Katzfey (ModalAI staff) · 2024-04-19 14:47:03 UTC (in reply to Adriano Del Pino Lino)

@Adriano-Del-Pino-Lino Please reference this other post: https://forum.modalai.com/topic/3341/odometry-message/2