# Position Mode Unavailable

Source: https://forum.modalai.com/topic/3945/position-mode-unavailable
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: starling2 max, position-mode, gps, qvio, starling
Posted: 2024-11-16 00:13:46 UTC by griffin
Replies: 5 · Views: 2086

## griffin · 2024-11-16 00:13:46 UTC

During indoor testing of a Starling 2 Max we cannot enter position mode. 

- The drone shows a `no valid position estimate` error in QGC despite the qvio visualization in VOXL portal showing a good track of 60-90%.
- The [starling first flight tutorial]( https://docs.modalai.com/starling-first-flight/) shows the VIO as sufficient for indoors position flight. Is this still correct for Starling 2 max?
- Is there a way to inspect the state estimate of the drone?
- Does starling 2 max require a GPS fix for accurate position fix even when running indoors?

Any help would be appreciated.

## Reply by tom (ModalAI staff) · 2024-11-16 00:16:30 UTC

@griffin Since we market it as an "outdoor drone" starling 2 max ships with "outdoor gps" px4 parameters which means that in it's default position mode it is attempting to use GPS data.

You can load the indoor VIO parameters by doing the following:

Open PX4 param wizard
```
voxl-configure-px4-params -w
```

Select `EKF2_helpers`

Select `indoor_vio.params`

Load the parameters and power cycle your drone

## Reply by griffin · 2024-11-16 00:44:09 UTC (in reply to tom)

@tom That seems to have fixed it, thanks.

When in this mode will the position fix ignore GPS data, if available, or will it incorporate it if the drone is taken outside

## Reply by tom (ModalAI staff) · 2024-11-16 20:24:35 UTC (in reply to griffin)

@griffin It will ignore it, if you'd like to fly outside you'd want to load the outdoor_gps_baro parameters

## Reply by griffin · 2024-11-21 19:03:31 UTC (in reply to tom)

@tom thanks for the information. Does this also mean that when in outdoor mode it will ignore VIO inputs, even when GPS becomes unavailable?

## Reply by tom (ModalAI staff) · 2024-11-25 23:08:16 UTC (in reply to griffin)

@griffin Correct