# voxl-open-vins-server???

Source: https://forum.modalai.com/topic/4234/voxl-open-vins-server
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2025-03-05 14:42:56 UTC by tkddnjs825
Replies: 2 · Views: 879

## tkddnjs825 · 2025-03-05 14:42:56 UTC

I have a question.  
I am currently using VOXL2 with SDK 1.4.1 and utilizing dual tracking with the M0173 module. Since I am only flying indoors, I have not attached a GPS module.  

I am using `voxl-open-vins-server`, but I noticed that the documentation and the configuration file contents for `voxl-open-vins-server` are different.  

Could you provide a summary of the correct `voxl-open-vins-server` setup for SDK 1.4.1?

## Reply by James Strawson (ModalAI staff) · 2025-03-05 18:26:25 UTC

voxl-openvins-server is under rapid development at the moment and I expect the entire configuration file to be cleaned up dramatically quite soon. After that point the configuration file contents will stabilize and we will update the documentation to match. Fully documenting the current state would be a wasted effort.

It should not be necessary to modify the configuration file. When flashing the 1.4.1 SDK a new default config file will have been made. What differs from drone-to-drone is the physical layout of the cameras and IMU which is defined by /etc/modalai/extrinsics.conf as well as the cameras that should be used for vio which is set up in /etc/modalai/vio_cams.conf

## Reply by tkddnjs825 · 2025-03-05 23:36:53 UTC (in reply to James Strawson)

@James-Strawson 
"takeoff_cam": Tells OpenVINS which camera to use for takeoff. This should be a camera where "is_occluded_on_ground" is set to false in vio_cams.conf. Besides this setting, what else needs to be configured?