# voxl-open-vins-server imu_to_cam RPY(deg) different output logs

Source: https://forum.modalai.com/topic/4051/voxl-open-vins-server-imu_to_cam-rpy-deg-different-output-logs
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-12-21 12:07:58 UTC by Soumy Jain
Replies: 1 · Views: 527

## Soumy Jain · 2024-12-21 12:07:58 UTC

I am currently working with the VOXL 2 and attempting to run the voxl-open-vins-server alongside the voxl-feature-tracker. To configure the system, I set custom RPY (Roll, Pitch, Yaw) values for the drone in the extrinsics.conf file. However, when I attempt to log the values, the output does not match the expected results, and localization is not functioning properly.

Here is the extrinsics.conf file with the custom settings I applied:
![78cdf2ea-2c8b-4c26-895c-a8f34c2c215f-image.png](https://forum.modalai.com/assets/uploads/files/1734782789133-78cdf2ea-2c8b-4c26-895c-a8f34c2c215f-image.png) 

Here is the log output,
![8cd64453-6d0b-47bb-bd0a-2a9b90e19206-image.png](https://forum.modalai.com/assets/uploads/files/1734782739773-8cd64453-6d0b-47bb-bd0a-2a9b90e19206-image.png)

## Reply by Aaron Porter · 2025-01-21 16:07:19 UTC

Unsure, if you have resolved this so I am going to attempt to help but I am going to need more information if possible. I am unsure how the setup is for the drone seems like you have one camera (Tracking_rear) pointed straight backwards and two cameras (Tracking_front, Tracking_down) facing forward at a 30 degree downward angle? 
I am not sure that you are showing with the log output. 
Have you tried hand testing using the command `voxl-inspect-pose -l` and seeing how RPY and translational movement (moving the drone up, right, forward) are behaving for the local frame?