# VOXL VIO not sending position over Odometry Message

Source: https://forum.modalai.com/topic/397/voxl-vio-not-sending-position-over-odometry-message
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-08-16 22:11:09 UTC by Daniel Ryu
Replies: 3 · Views: 617

## Daniel Ryu · 2021-08-16 22:11:09 UTC

I switched into system image 3.3 as so here: https://forum.modalai.com/topic/382/collision-prevention because I want to be able to use VIO and collision avoidance. However, after doing so, I am no longer able to get VIO updates to x and y in the Odometry message on QGC. ![Screenshot from 2021-08-16 15-07-55.png](https://forum.modalai.com/assets/uploads/files/1629151733325-screenshot-from-2021-08-16-15-07-55.png) ![Screenshot from 2021-08-16 15-07-24.png](https://forum.modalai.com/assets/uploads/files/1629151736634-screenshot-from-2021-08-16-15-07-24.png) 
![Screenshot from 2021-08-16 15-10-31.png](https://forum.modalai.com/assets/uploads/files/1629151840574-screenshot-from-2021-08-16-15-10-31.png) ![Screenshot from 2021-08-16 15-10-08.png](https://forum.modalai.com/assets/uploads/files/1629151854566-screenshot-from-2021-08-16-15-10-08.png) 

Previously I was able to receive changes to Odometry in version 3.2, it is only now that I can't receive those changes.

## Reply by Guest · 2021-08-16 22:28:30 UTC

In your px4 parameters, what is EKF2_AID_MASK? If you're trying to run in vio mode, you need to set the aid mask to 280 (vision position fusion + vision yaw fusion + vision velocity fusion)

![94027f34-e719-4983-9016-d3ea23d77308-image.png](https://forum.modalai.com/assets/uploads/files/1629152886311-94027f34-e719-4983-9016-d3ea23d77308-image.png)

## Reply by Daniel Ryu · 2021-08-16 22:33:46 UTC (in reply to Guest)

@Alex-Gardner Also 280. I loaded in the configuration file here https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/ekf2_indoor_vio.params

## Reply by Daniel Ryu · 2021-08-20 22:13:02 UTC

@Alex-Gardner

 Found the solution. Here are the steps to make sure VIO is working properly.

1) Make sure VIO is enabled in the voxl-vision-px4.conf file

2) Make sure PX4 parameters are updated 

3) Ensure voxl-camera-server, voxl-qvio-server, and voxl-vision-px4 services are all running in the background

If you could add step 2 into the documentation it would help a lot. As is, I had to do a lot of forum searching to figure this out. https://forum.modalai.com/topic/140/vio-indoor-navigation