# ODOMETRY MESSAGE

Source: https://forum.modalai.com/topic/3341/odometry-message
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-04-18 21:13:40 UTC by leonardo Andrade 0
Replies: 2 · Views: 1405

## leonardo Andrade 0 · 2024-04-18 21:13:40 UTC

I'm missing the odometry message (ID 331) in QGC after updating the system to version 1.1.3. 

I loaded the parameters (Indoor VIO Missing GPS) :

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/indoor_vio_missing_gps.params?ref_type=heads

However, when I use the voxl-inspect-qvio service (and take measurements with markings on the ground, the coordinates are correct/within tolerance).

When I call the service:
voxl-inspect-mavlink mavlink_onboard
 
The odometry message is there, but when I call 

voxl-inspect-mavlink mavlink_to_gcs
 
Which of course reflects what is appearing in QGC (there is no odometry message, only local_position_ned).

So we're not supposed to have the odometry message in these new versions? Mainly because the PX4 v1.14 firmware no longer supports the EKF2_AID_MASK parameters, among others.

I really want to answer this question, especially to find out if I can fly autonomously.

![WhatsApp Image 2024-04-12 at 17.31.30.jpeg](https://forum.modalai.com/assets/uploads/files/1713474688148-whatsapp-image-2024-04-12-at-17.31.30.jpeg)

## Reply by Eric Katzfey (ModalAI staff) · 2024-04-19 14:46:25 UTC

@leonardo-Andrade-0 The startup script `/usr/bin/voxl-px4-start` controls the startup of the mavlink instances. The mavlink instance that sends messages to QGC enables `normal` mode which does not include the odometry message. But you can see in that script how you can add extra streams. So, you can add odometry with something like this:
```
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

mavlink stream -u 14558 -s ODOMETRY -r 30
```

## Reply by leonardo Andrade 0 · 2024-04-19 16:08:26 UTC (in reply to Eric Katzfey)

@Eric-Katzfey thanks mate for your answer!