# Mismatching measures between VIO and Mavor local pose

Source: https://forum.modalai.com/topic/3671/mismatching-measures-between-vio-and-mavor-local-pose
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-07-24 10:59:27 UTC by jocacace13
Replies: 0 · Views: 427

## jocacace13 · 2024-07-24 10:59:27 UTC

Hello to every one.

I am struggling with something related to the Visual Inertial Odometry of my voxl2 board and mavros. I am not able to understand if it is working correctly or not. Basically this is the behavior I am not understanding correctly.

I am using the tracking camera to estimate the position and the orientation of my uav. The resulting pose seems correct and the quality is good as well. I start also mavros, since I want to integrate my application with the ROS framework. 

I am comparing the value present in the /qvio/pose topic and the one in the /mavros/local_position/pose that should be the estimated position from the uav point of view.

Results:
   - Orientation: I am mainly considering the YAW. The Yaw tracks the IMU data directly, without taking into account the value generated from the /qvio/pose. There is an offset due to the initial rotation of the uav, and the rotation is inverted by sign

   - Position: there is an offset. No very huge but the position seems to be filter with other things

I was wondering if these things are correct, and why

Regards.