STINGER (D0013) Position Mode Fails after replacing

YUUJI INOUE

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:

Reset parameters using voxl-configure-px4-params -p MRB-D0013.
Verified Extrinsics using voxl-configure-extrinsics D0013_Stinger.
Calibrated sensors in QGC.
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
stinger_support.params
latest_flight_log.ulg

YUUJI INOUE

@YUUJI-INOUE
I made a mistake in the file name
diagnostic_info