# Odometry message not displayed with VIO

Source: https://forum.modalai.com/topic/3916/odometry-message-not-displayed-with-vio
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2024-11-07 13:56:48 UTC by Jetson Nano
Replies: 0 · Views: 413

## Jetson Nano · 2024-11-07 13:56:48 UTC

Hey @Alex-Kushleyev @Eric-Katzfey @tom 

I'm using a VOXL2 compute along with Flight Core V2 as external flight controller. 

**PX4 version: v1.15.1 (Stable)**

The VOXL2 communicates with FC as mentioned in this [documentation](https://docs.modalai.com/voxl2-external-flight-controller/).

For position hold I have set EV parameter using tracking camera fusing with a Optical Flow with Rangefinder onboard. I'm able to see the odometry message being shown in mavlink console on QGC. Also, I try streaming the message from VOXL2,

```mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS1```

In voxl-vision-hub I have set the mode to figure_eight. But once, I switch to offboard mode from position mode the drone stays at the same place and does not perform figure 8.

Once I ssh into VOXL2, and check for mavlink status, I get the ```LOCAL_POSITION_NED```  but not ```#331 ODOMETRY``` message. How can I get that message? 

Without that message I'm not sure if VIO inputs from tracking camera would be passed on to FC for fusion on switching to offboard mode of flight.