# voxl-mapper setting

Source: https://forum.modalai.com/topic/3576/voxl-mapper-setting
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: starling
Posted: 2024-06-21 15:09:16 UTC by Stefano Accolla
Replies: 0 · Views: 479

## Stefano Accolla · 2024-06-21 15:09:16 UTC

Good morning, 
I'm trying to use voxl-mapper with a starling 2. When I use it with waypoints in larger rooms it works correctly, while if I use it in hallways or to go through doorways the drone doesn't follow the correct path and slams into walls. 
In some situations the drone goes to the opposite side from the placed waypoint.

This is the result of "cat etc/modalai/extrinsics.conf"
![2c4c8249-0816-42f2-9dbf-d5214727127d-image.png](https://forum.modalai.com/assets/uploads/files/1718981865607-2c4c8249-0816-42f2-9dbf-d5214727127d-image.png) 

This is the result of "voxl-inspect-extrinsics"

#0:
    parent:                imu_apps
    child:                 tracking_front
    T_child_wrt_parent:    0.037   0.000   0.001 
    RPY_parent_to_child:   0.0    90.0    90.0  
    R_child_to_parent:     0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
#1:
    parent:                imu_apps
    child:                 tracking_down
    T_child_wrt_parent:   -0.088  -0.004   0.003 
    RPY_parent_to_child:   0.0     0.0   180.0  
    R_child_to_parent:    -1.000  -0.000   0.000 
                           0.000  -1.000  -0.000 
                           0.000   0.000   1.000 
#2:
    parent:                imu_apps
    child:                 tracking_rear
    T_child_wrt_parent:   -0.092   0.016   0.004 
    RPY_parent_to_child:   0.0   -90.0   -90.0  
    R_child_to_parent:     0.000   0.000  -1.000 
                          -1.000   0.000  -0.000 
                           0.000   1.000   0.000 
#3:
    parent:                body
    child:                 imu_apps
    T_child_wrt_parent:    0.029  -0.006  -0.016 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000 
#4:
    parent:                body
    child:                 imu_px4
    T_child_wrt_parent:    0.004   0.007  -0.016 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000 
#5:
    parent:                imu_apps
    child:                 lepton0_raw
    T_child_wrt_parent:   -0.085   0.013   0.024 
    RPY_parent_to_child:   0.0     0.0    90.0  
    R_child_to_parent:     0.000  -1.000   0.000 
                           1.000   0.000  -0.000 
                           0.000   0.000   1.000 
#6:
    parent:                body
    child:                 tof
    T_child_wrt_parent:    0.068  -0.012  -0.017 
    RPY_parent_to_child:   0.0    90.0   180.0  
    R_child_to_parent:    -0.000  -0.000   1.000 
                           0.000  -1.000  -0.000 
                           1.000   0.000   0.000 
#7:
    parent:                body
    child:                 ground
    T_child_wrt_parent:    0.000   0.000   0.033 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000 

This is the result of "cat /etc/modalai/voxl-mapper.conf"

![9e0d8d8a-b524-4993-82c0-b3dc6cea7f6e-image.png](https://forum.modalai.com/assets/uploads/files/1718982112352-9e0d8d8a-b524-4993-82c0-b3dc6cea7f6e-image.png) 

While this is the result of "ls /run/mpa/"

![6d89a263-eca2-473e-bdf7-d38e9d95d7e8-image.png](https://forum.modalai.com/assets/uploads/files/1718982390845-6d89a263-eca2-473e-bdf7-d38e9d95d7e8-image.png) 

Maybe there is an error in the sensors used in the mapper configuration? Maybe I need to enter the tracking cams?
Could you help me solve the problem?

Thank you!