# STINGER (D0013) Position Mode Fails after replacing

Source: https://forum.modalai.com/topic/4926/stinger-d0013-position-mode-fails-after-replacing
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Tags: nonsaya
Posted: 2025-12-15 03:43:23 UTC by YUUJI INOUE
Replies: 1 · Views: 337

## YUUJI INOUE · 2025-12-15 03:43:23 UTC

Subject: STINGER (D0013) Position Mode Fails after replacing VOXL 2 Mini: VIO Quality High but EKF2 Rejects Data

Hi ModalAI Team,

I am trying to restore a **STINGER (D0013)**.
The drone crashed into the ceiling and stopped working, so **I replaced the VOXL 2 Mini (M0104) with a new one**.
I have set up the new board from scratch.

**Current Status:**
*   **Manual Flight**: Works fine. Motors, RC, and basic stabilization are OK.
*   **Position Mode**: **Cannot engage.** QGC says "No valid local position estimate".

**Symptoms:**
*   `voxl-qvio-server` is running, `voxl-inspect-qvio` shows **Quality: 100%** (or High).
*   PX4 receives data (`px4-listener vehicle_odometry` shows valid data).
*   `px4-listener vehicle_local_position` shows **`xy_valid: False`**.
*   `px4-listener estimator_status` shows **`pos_test_ratio: nan`** continuously.

**What I have tried:**
1.  Reset parameters using `voxl-configure-px4-params -p MRB-D0013`.
2.  Verified Extrinsics using `voxl-configure-extrinsics D0013_Stinger`.
3.  Calibrated sensors in QGC.
4.  Tried aligning settings with a working STARLING 2 unit:
    *   `EKF2_EV_CTRL = 15`
    *   `SYS_HAS_GPS = 1`
    *   `EKF2_HGT_REF = 0` (Baro)
    *   Relaxed `EKF2_REQ_SACC = 1.5`, `EKF2_REQ_GPS_H = 5.0`.

Since this is a repaired unit with a new VOXL 2 Mini, I suspect I might be missing some calibration or configuration step specific to a board replacement.
Despite valid VIO data reaching PX4 (checked via listener), EKF2 seems to completely ignore it (`pos_test_ratio: nan`).

**Attachments:**
*   `voxl-inspect-services` output (diagnostic_info.txt)
*   Parameter file (`stinger_support.params`)
*   Flight Log (`latest_flight_log.ulg`)

**System Info:**
*   VOXL 2 Mini (M0104) - New replacement board
*   Image: 1.8.04-M0104-14.1a-perf
*   PX4: (Current version)

Any help would be appreciated.

[daiagnostic_info.txt](https://drive.google.com/file/d/1UqJT2S5wc1IWenIQEpOKGHXuSB2x2iOU/view?usp=sharing)
[stinger_support.params](https://drive.google.com/file/d/1J7udIw7OAAIrkoaZErXwyinJT-7hAkGM/view?usp=sharing)
[latest_flight_log.ulg](https://drive.google.com/file/d/1434u832fawxdE_-Tx8cS7DByASiEHnJv/view?usp=sharing)
![2.jpg](https://forum.modalai.com/assets/uploads/files/1765770192286-2.jpg) ![3.jpg](https://forum.modalai.com/assets/uploads/files/1765770192353-3.jpg) ![1.jpg](https://forum.modalai.com/assets/uploads/files/1765770192423-1.jpg)

## Reply by YUUJI INOUE · 2025-12-15 05:52:48 UTC

@YUUJI-INOUE 
I made a mistake in the file name
[diagnostic_info](https://drive.google.com/file/d/1G5QYid1i9uvj35wDNjtQic1zGzMQOztr/view?usp=sharingl)