# Starling 2 not following navigation path Source: https://forum.modalai.com/topic/4990/starling-2-not-following-navigation-path Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2026-01-16 19:20:42 UTC by greg_s Replies: 20 · Views: 2868 ## greg_s · 2026-01-16 19:20:42 UTC Hello ModalAI Team, I am still trying to get the navigation working with my team's Starling 2. system-image: 1.8.06-M0054-14.1a-perf kernel: #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125 hw platform: M0054 mach.var: 1.0.1 SKU: MRB-D0014-4-V1-C27-T8-M22-X0 voxl-suite: 1.6.2 I have updated the drone to the latest voxl version 1.6.2. I am able to fly the drone in position mode and figure 8 mode. I few the drone around for a couple of minutes in our testing room gathering map data. I then switched the drone into offboard_mode: trajectory. I planned a point and saw the projected path drawing a simple straight line. There are not obstacles in the way to navigate around/avoid. The drone just flew directly at the grown instead of following the path. Is there anything I should try software/settings-wise to try and get navigation working? Is there anything about the layout/appearance of a room that could cause this? Please see the attached image. ![mapper_issue.jpg](https://forum.modalai.com/assets/uploads/files/1768591072917-mapper_issue-resized.jpg) ## Reply by greg_s · 2026-01-21 19:14:53 UTC Hello ModalAI Team, Please let me know if there is any further information needed. So far, I haven't had the drone successfully navigate in trajectory in any version of the VOXL SDK I've tried (1.4/1.5/1.6). ## Reply by ApoorvThapliyal · 2026-01-22 16:29:04 UTC (in reply to greg_s) Hey @greg_s, Can you post your voxl-logs and flight logs? Thanks ## Reply by greg_s · 2026-01-23 22:27:40 UTC (in reply to ApoorvThapliyal) Hello @ApoorvThapliyal, I put the log file here: [log100.ulg on Filebin.net](https://filebin.net/9adv35rmplv37woa) I also put the the output from ``` voxl-vision-hub --debug_offboard ``` suggested by @Cliff-Wong in another post in another upload here [voxl-vision-hub-log.txt on Filebin.net](https://filebin.net/wiwrdv95s6h2t32g). When I attempted the flight, the drone appeared to fly to the correct X and Z coordinates, but it was close to the floor and well below the correct Y coordinate. Here are a couple of picture of the map and projected route: ![plan1.jpg](https://forum.modalai.com/assets/uploads/files/1769207224045-plan1.jpg) ![plan2.jpg](https://forum.modalai.com/assets/uploads/files/1769207224254-plan2.jpg) And a couple of the map after the drone tried to navigate and ended up below the point: ![after_nav1.jpg](https://forum.modalai.com/assets/uploads/files/1769207254706-after_nav1.jpg) ![after_nav2.jpg](https://forum.modalai.com/assets/uploads/files/1769207254785-after_nav2.jpg) ## Reply by greg_s · 2026-01-26 19:53:56 UTC For convenience I took out the section that has the trajectory from the voxl-vision-hub logs: commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3 commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3 Received trajectory has duration 1.953539 seconds Received load and start command. commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.0 commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.2 0.2 -0.0 commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.3 0.3 -0.0 commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.5 0.5 -0.0 commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.7 0.6 0.0 commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 -0.0 A: 0.9 0.7 0.0 commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.0 0.9 0.0 commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.1 0.9 0.0 commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.1 1.0 0.0 commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.2 1.0 0.0 commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: 1.2 1.0 0.0 commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0 commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0 commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: 1.1 1.0 0.0 commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0 commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0 Received trajectory has duration 1.452853 seconds Received insert command. commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.1 0.9 0.0 commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.0 0.9 0.0 commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: 1.0 0.9 0.0 commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.9 0.8 0.0 commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.8 0.7 0.1 commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.6 0.0 A: 0.8 0.6 0.1 commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.7 0.5 0.1 commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.6 0.5 0.1 commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.5 0.4 0.1 commanding: XYZ -0.1 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.4 0.3 0.0 commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.3 0.2 0.0 commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.2 0.1 0.0 commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.0 0.0 0.0 Received trajectory has duration 0.510237 seconds Received insert command. commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.1 -0.1 0.0 commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.2 -0.2 0.0 commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.2 -0.2 0.0 commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.3 -0.2 0.0 commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.4 -0.3 -0.0 commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.5 -0.4 -0.0 commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.6 -0.5 -0.0 commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.7 -0.6 -0.0 commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: -0.7 -0.6 -0.0 commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.7 -0.6 -0.0 commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0 commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0 commanding: XYZ 0.3 0.3 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: -0.8 -0.7 -0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.7 -0.6 -0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.5 -0.5 -0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.4 -0.3 0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.3 -0.3 0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.4 -0.4 0.0 commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.6 -0.5 -0.0 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -0.8 -0.7 -0.0 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -1.1 -0.9 -0.1 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.1 0.0 A: -1.3 -1.1 -0.1 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.4 -1.1 -0.1 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.3 -1.1 -0.1 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -1.0 -0.9 -0.1 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.7 -0.6 -0.1 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.3 -0.2 -0.0 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.0 -0.0 -0.0 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0 FINISHED TRAJECTORY commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7 commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7 ## Reply by greg_s · 2026-01-28 19:35:50 UTC @ApoorvThapliyal, if you/your team needs anymore information or data, do let me know. Thank you. ## Reply by ApoorvThapliyal · 2026-01-28 20:05:14 UTC (in reply to greg_s) Hey @greg_s I just wanted to confirm, are you dragging the planned point to the height desired? By default, simply clicking on the map will generate a point at height 0. Let me know, thanks ## Reply by greg_s · 2026-01-29 19:42:44 UTC (in reply to ApoorvThapliyal) Hello @ApoorvThapliyal, Yes, I am dragging the point up and panning the camera around to ensure it is roughly the same height as the drone. The line drawn for the path is pretty straight and at the correctly level. The drone just ends up flying down below the point after I have move it. ## Reply by greg_s · 2026-02-02 23:40:02 UTC (in reply to ApoorvThapliyal) Hello @ApoorvThapliyal, Is there anything more your teams need to investigate/troubleshoot the issue? Thanks. ## Reply by ApoorvThapliyal · 2026-02-03 19:05:51 UTC (in reply to greg_s) Hey @greg_s I was able to reproduce the issue where the drone does not fly correctly toward the setpoint. I think reviewing the `extrinsics.conf` file is a good next step, as there may be an incorrect transform defined there. ## Reply by greg_s · 2026-02-04 19:18:19 UTC (in reply to ApoorvThapliyal) Hey @ApoorvThapliyal, Here is the output of the extrinsics: voxl2:~$ voxl-inspect-extrinsics --all name: D0014_Starling_2 #0: parent: imu_apps child: tracking_front T_child_wrt_parent: 0.037 0.000 0.001 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #1: parent: imu_apps child: tracking_down T_child_wrt_parent: -0.088 -0.004 0.027 RPY_parent_to_child: 0.0 0.0 180.0 R_child_to_parent: -1.000 -0.000 0.000 0.000 -1.000 -0.000 0.000 0.000 1.000 #2: parent: imu_apps child: tracking_rear T_child_wrt_parent: -0.092 0.016 0.004 RPY_parent_to_child: 0.0 -90.0 -90.0 R_child_to_parent: 0.000 0.000 -1.000 -1.000 0.000 -0.000 0.000 1.000 0.000 #3: parent: imu_apps child: hires T_child_wrt_parent: 0.039 0.000 0.019 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #4: parent: body child: imu_apps T_child_wrt_parent: 0.029 -0.006 -0.016 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #5: parent: body child: imu_px4 T_child_wrt_parent: 0.004 0.007 -0.016 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #6: parent: imu_apps child: lepton0_raw T_child_wrt_parent: -0.085 0.013 0.024 RPY_parent_to_child: 0.0 0.0 90.0 R_child_to_parent: 0.000 -1.000 0.000 1.000 0.000 -0.000 0.000 0.000 1.000 #7: parent: body child: tof T_child_wrt_parent: 0.066 0.009 -0.012 RPY_parent_to_child: 0.0 90.0 180.0 R_child_to_parent: -0.000 -0.000 1.000 0.000 -1.000 -0.000 1.000 0.000 0.000 #8: parent: body child: ground T_child_wrt_parent: 0.000 0.000 0.033 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 ## Reply by greg_s · 2026-02-09 19:11:36 UTC (in reply to ApoorvThapliyal) Hello @ApoorvThapliyal, Is there anything that looks wrong or off about the configuration? Should I look at any other file in particular? ## Reply by Cliff Wong (ModalAI staff) · 2026-02-10 19:01:06 UTC (in reply to greg_s) @greg_s Hi there, your extrinsics are good: same as a factory Starling. Now, if you altered the ```voxl-camera-server.conf``` (e.g. enabled a flip of a camera stream when it wasn't) or physically changed a camera mount point then the extrinsics would need to be adjusted. Let assume that's not the case. From your vvhub trajectory output, it appears your setpoints command the vehicle to move forward (**X**) and to the right (**Y**) > 1m while *dropping* altitude (**Z**) 0.8m --recall mapper runs in FRD (aka body) space where Z up is negative. Also you do pass through the take off origin (0,0,0). If that's not what you wanted, then we have a "requested trajectory" drawing problem in the portal tool or mapper's found invalid regions/obstacle and could not draw the "requested trajectory". In the former case @ApoorvThapliyal mentions the un-intuitiveness of the portal tool that you already understand. In the latter case, upon "request trajectory" submission, voxl-mapper will analyze the map to see if there are obstacles and alter the trajectory to fly around potential obstacles. You can alter in ```voxl-mapper.conf```: * ```rrt_min_distance``` (try 0.125) * ```esdf_inner_sphere_radius``` (try 0.15) if you seeing mapper create trajectories going around 'ghost' objects. This should allow RRT generated trajectories to get closer to objects. In checking precision, you'll need to take the trajectory output (e.g. the setpoints in the ```*commanding: XYZ*``` messages) and compared it against VIO position to determine tracking error. You have 2 ways to get that data: * option 1 is record you vvhub traj output as above and record the output of voxl-inspect-vins -n then plot compare the tracking error. * option 2 is running voxl-vision-hub --debug_offboard --debug_odometry which you'll need to seperate the traj messages from the vio (T_body_wrt_local) messages, then you ca plot the tracking error. The goal is we want the vio position to follow the commanded trajectory: (it's doing what is told to do). That will narrow down where your concerns are w.r.t what module has a problem. Hopefully that gets you on the right track, just post any outputs you gather that continue to show tracking error. ## Reply by greg_s · 2026-02-12 00:01:32 UTC (in reply to Cliff Wong) Hello @Cliff-Wong, I collected the output from voxl-vision-hub --debug_offboard and voxl-inspect-vins -n. I place a plan_to point that was about half a meter from the drone and slightly higher in altitude from the drone. I used the arrows to position the plan_to point and rotated camera to ensure the plan_to point it was placed correctly. I reduced the rrt_min_distance and esdf_inner_sphere_radius as suggested. The drone had more than a meter clearance on all sides. The room is empty with no obstacles. The output from voxl-vision-hub --debug_offboard: commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6 Setpoint position: XYZ -1.0 -0.1 -0.8 yaw: 0.4 Received trajectory has duration 3.309723 seconds Received load and start command. commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.0 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.5 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.0 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.1 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.1 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.2 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.3 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.1 -0.3 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.2 0.1 -0.4 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.2 0.1 -0.4 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.2 0.1 -0.5 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.3 0.1 -0.5 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.3 0.1 -0.6 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.1 A: 0.4 0.1 -0.6 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.1 A: 0.4 0.1 -0.6 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.4 0.2 -0.6 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.5 0.2 -0.6 commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.5 0.2 -0.6 Received trajectory has duration 2.234033 seconds Received insert command. commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.1 -0.2 A: 0.5 0.2 -0.6 commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.5 0.2 -0.6 commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.5 0.2 -0.6 commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.6 commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5 commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5 commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5 commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.5 commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4 commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4 commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4 commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.3 -0.4 commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.1 -0.4 A: 0.6 0.3 -0.4 commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.4 A: 0.6 0.3 -0.4 commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.4 A: 0.6 0.2 -0.4 commanding: XYZ -0.8 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.2 -0.4 commanding: XYZ -0.8 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.3 -0.4 commanding: XYZ -0.8 -0.1 -0.2 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.3 -0.4 commanding: XYZ -0.8 -0.1 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.4 commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.3 commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.3 commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.2 -0.3 commanding: XYZ -0.7 -0.0 -0.2 yaw: 0.4 V: 0.6 0.2 -0.5 A: 0.6 0.2 -0.3 commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.5 A: 0.6 0.2 -0.3 commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.6 A: 0.6 0.2 -0.2 commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.6 A: 0.6 0.2 -0.2 commanding: XYZ -0.7 0.0 -0.3 yaw: 0.4 V: 0.6 0.3 -0.6 A: 0.5 0.2 -0.2 Received trajectory has duration 1.689594 seconds Received insert command. commanding: XYZ -0.6 0.0 -0.3 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.5 0.2 -0.2 commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.5 0.2 -0.1 commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.2 -0.1 commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.1 -0.1 commanding: XYZ -0.5 0.1 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.1 -0.1 commanding: XYZ -0.5 0.1 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 -0.0 commanding: XYZ -0.5 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 -0.0 commanding: XYZ -0.5 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 0.0 Received trajectory has duration 1.165000 seconds Received insert command. commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.2 0.1 0.1 Received trajectory has duration 1.342931 seconds Received insert command. commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.1 0.0 0.1 commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.1 0.0 0.1 commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.0 -0.0 0.2 commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.6 A: -0.0 -0.0 0.2 commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.6 A: -0.1 -0.0 0.2 commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.1 -0.1 0.3 commanding: XYZ -0.3 0.2 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.2 -0.1 0.3 commanding: XYZ -0.2 0.2 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.2 -0.1 0.3 commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.3 -0.1 0.3 commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.3 -0.1 0.4 commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.4 -0.2 0.4 Received trajectory has duration 1.508897 seconds Received insert command. commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.4 -0.2 0.4 commanding: XYZ -0.1 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.5 -0.2 0.4 commanding: XYZ -0.1 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.5 -0.2 0.4 commanding: XYZ -0.1 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4 commanding: XYZ -0.1 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4 commanding: XYZ -0.0 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4 commanding: XYZ -0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.4 A: -0.6 -0.2 0.4 commanding: XYZ -0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.6 -0.2 0.5 commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.6 -0.2 0.5 commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.7 -0.3 0.5 commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.7 -0.3 0.5 commanding: XYZ 0.1 0.3 -0.8 yaw: 0.4 V: 0.4 0.2 -0.3 A: -0.7 -0.3 0.5 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.4 0.2 -0.3 A: -0.7 -0.3 0.5 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.4 0.1 -0.2 A: -0.7 -0.3 0.5 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.2 A: -0.5 -0.2 0.3 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3 commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.4 -0.2 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.1 -0.1 A: -0.4 -0.2 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.3 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.2 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.2 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.3 -0.1 0.2 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.1 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.3 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.3 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.0 commanding: XYZ 0.2 0.3 -0.9 yaw: 0.2 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.0 commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0 commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0 commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0 Received stop command. Stopped following trajectory. commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5 The output from voxl-inspect-vins -n: dt(ms) | T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)|features|quality| state| error_codes 33.1 | -1.01 -0.14 -0.79| 1.6 -0.5 148.0| 22 | 78% | OKAY | 33.6 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY | 33.3 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY | 33.1 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY | 33.3 | -1.01 -0.14 -0.79| 1.6 -0.4 147.9| 22 | 78% | OKAY | 33.6 | -1.01 -0.14 -0.79| 1.5 -0.4 147.9| 22 | 78% | OKAY | 33.1 | -1.01 -0.14 -0.79| 1.4 -0.4 147.9| 22 | 78% | OKAY | 33.3 | -1.01 -0.14 -0.79| 1.4 -0.4 147.8| 22 | 78% | OKAY | 33.3 | -1.01 -0.14 -0.79| 1.5 -0.5 147.8| 22 | 78% | OKAY | 33.3 | -1.01 -0.14 -0.79| 1.5 -0.5 147.7| 22 | 78% | OKAY | 33.6 | -1.01 -0.14 -0.79| 1.4 -0.5 147.7| 22 | 78% | OKAY | 33.1 | -1.01 -0.14 -0.79| 1.4 -0.5 147.6| 22 | 78% | OKAY | 33.3 | -1.01 -0.15 -0.79| 1.4 -0.4 147.6| 22 | 78% | OKAY | 33.3 | -1.01 -0.15 -0.79| 1.4 -0.5 147.3| 22 | 74% | OKAY | 33.6 | -1.01 -0.15 -0.78| 1.1 -0.6 145.1| 21 | 70% | OKAY | 33.1 | -1.01 -0.14 -0.77| 1.0 -0.6 141.2| 20 | 70% | OKAY | 33.5 | -1.01 -0.14 -0.75| 0.8 -0.7 137.8| 19 | 65% | OKAY | 33.1 | -1.01 -0.14 -0.73| 0.6 -0.7 134.0| 25 | 75% | OKAY | 33.3 | -1.00 -0.14 -0.70| 0.5 -0.6 129.9| 26 | 83% | OKAY | 33.3 | -1.00 -0.14 -0.68| 0.6 -0.5 125.6| 24 | 82% | OKAY | 33.3 | -1.00 -0.14 -0.65| 0.7 -0.4 121.1| 26 | 100% | OKAY | 33.3 | -1.00 -0.13 -0.62| 0.8 -0.2 116.4| 27 | 100% | OKAY | 33.3 | -1.00 -0.13 -0.60| 1.0 -0.1 111.5| 27 | 99% | OKAY | 33.3 | -0.99 -0.13 -0.57| 1.2 0.0 106.5| 23 | 100% | OKAY | 33.3 | -0.99 -0.13 -0.54| 1.3 0.2 101.4| 18 | 73% | OKAY | 33.3 | -0.99 -0.13 -0.52| 1.3 0.3 96.3| 17 | 73% | OKAY | 33.3 | -0.99 -0.13 -0.49| 1.4 0.5 91.1| 17 | 65% | OKAY | 33.4 | -0.98 -0.13 -0.46| 1.4 0.8 85.8| 17 | 69% | OKAY | 33.3 | -0.98 -0.13 -0.43| 1.5 1.0 80.6| 18 | 77% | OKAY | 33.3 | -0.98 -0.13 -0.40| 1.5 1.3 75.2| 17 | 60% | OKAY | 33.3 | -0.98 -0.13 -0.37| 1.5 1.5 70.0| 16 | 52% | OKAY | 33.3 | -0.97 -0.13 -0.34| 1.6 1.6 65.0| 16 | 68% | OKAY | 33.3 | -0.97 -0.13 -0.32| 1.7 1.7 60.3| 13 | 51% | OKAY | 33.3 | -0.97 -0.13 -0.29| 1.8 1.7 56.0| 12 | 68% | OKAY | 33.3 | -0.97 -0.13 -0.26| 2.0 1.7 52.1| 14 | 56% | OKAY | 33.3 | -0.97 -0.13 -0.23| 2.2 1.7 48.5| 18 | 77% | OKAY | 33.5 | -0.97 -0.13 -0.20| 2.3 1.7 45.4| 25 | 99% | OKAY | 33.1 | -0.97 -0.13 -0.17| 2.4 1.9 42.6| 24 | 87% | OKAY | 33.6 | -0.97 -0.13 -0.14| 2.4 1.8 40.1| 27 | 100% | OKAY | 33.1 | -0.97 -0.13 -0.11| 2.4 1.7 37.9| 29 | 100% | OKAY | 33.3 | -0.98 -0.13 -0.08| 2.4 1.4 36.1| 28 | 96% | OKAY | 33.3 | -0.98 -0.13 -0.05| 2.2 1.1 34.4| 26 | 100% | OKAY | 33.3 | -0.98 -0.13 -0.02| 2.1 0.9 33.1| 24 | 91% | OKAY | 33.3 | -0.98 -0.13 0.01| 1.9 0.4 31.9| 28 | 100% | OKAY | 33.3 | -0.99 -0.13 0.04| 1.6 0.0 30.9| 22 | 99% | OKAY | 33.3 | -0.99 -0.12 0.07| 1.4 -0.0 30.1| 23 | 98% | OKAY | 33.3 | -0.99 -0.12 0.10| 1.1 0.1 29.4| 20 | 86% | OKAY | 33.3 | -1.00 -0.12 0.13| 0.6 -0.1 28.9| 16 | 80% | OKAY | 33.3 | -1.00 -0.12 0.13| 2.0 -1.4 28.8| 13 | 60% | OKAY | 33.3 | -1.00 -0.13 0.12| 6.1 -3.1 28.5| 11 | 59% | OKAY | 33.3 | -1.00 -0.13 0.13| 9.5 -2.7 28.3| 15 | 52% | OKAY | 33.3 | -1.00 -0.13 0.13| 8.4 1.1 28.4| 15 | 52% | OKAY | 33.3 | -1.00 -0.14 0.14| 1.3 -0.1 27.9| 16 | 52% | OKAY | 33.3 | -1.00 -0.14 0.14| 0.1 0.6 27.3| 17 | 57% | OKAY | 33.3 | -1.00 -0.14 0.14| 0.7 0.6 27.3| 17 | 57% | OKAY | 33.3 | -1.00 -0.14 0.14| 0.0 0.5 27.2| 16 | 52% | OKAY | 33.3 | -1.00 -0.14 0.14| 0.0 0.7 26.9| 16 | 52% | OKAY | 33.5 | -1.00 -0.13 0.13| 0.1 0.6 27.0| 16 | 52% | OKAY | 33.1 | -1.00 -0.13 0.13| 0.1 0.5 26.9| 16 | 52% | OKAY | 33.5 | -1.00 -0.13 0.13| 0.1 0.6 27.0| 16 | 52% | OKAY | 33.1 | -1.00 -0.13 0.13| 0.1 0.5 26.9| 16 | 52% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.2 0.5 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.6 | -1.00 -0.13 0.13| 0.0 0.5 26.9| 20 | 65% | OKAY | 33.1 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | 33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY | I am not sure if the Portal is creating/sending the correct point shown on the map. Is there a way to send a point via the command line? I couldn't find anything specific for this. ## Reply by greg_s · 2026-02-12 00:04:49 UTC (in reply to greg_s) @Cliff-Wong. For completeness below is the output of the start of voxl-vision-hub --debug_offboard. I trimmed the entire output above until the drone started to move from the plan_to command. voxl2:~$ voxl-vision-hub --debug_offboard ================================================================= VOXL FLIGHT CONTROLLER (VFC) always_on 0 vfc_rate 100.000000 vfc_rc_chan_min 980 vfc_rc_chan_max 2020 vfc_thrust_ch 3 vfc_roll_ch 1 vfc_pitch_ch 2 vfc_yaw_ch 4 vfc_submode_ch 6 vfc_backtrack_seconds : 60 vfc_backtrack_rc_chan : 10 vfc_backtrack_rc_thresh : 1500 vfc_alt_mode_rc_min 0 vfc_alt_mode_rc_max 0 vfc_flow_mode_rc_min 1700 vfc_flow_mode_rc_max 2100 vfc_hybrid_flow_mode_rc_min 0 vfc_hybrid_flow_mode_rc_max 0 vfc_position_mode_rc_min 1300 vfc_position_mode_rc_max 1700 vfc_traj_mode_rc_min 0 vfc_traj_mode_rc_max 0 vfc_yaw_deadband 30 vfc_vxy_deadband 50 vfc_vz_deadband 150 vfc_min_thrust 0.000000 vfc_max_thrust 0.800000 vfc_tilt_max 0.436000 vfc_yaw_rate_max 3.000000 vfc_thrust_hover 0.250000 vfc_vz_max 1.000000 vfc_kp_z 5.000000 vfc_ki_z 0.500000 vfc_ki_z_max 0.300000 vfc_kd_z 4.000000 vfc_vxy_max 3.000000 vfc_kp_xy 0.640000 vfc_kd_xy 2.560000 vfc_kp_z_vio 5.000000 vfc_ki_z_vio 0.700000 vfc_kd_z_vio 5.000000 vfc_kp_xy_vio 6.000000 vfc_kd_xy_vio 4.000000 vfc_w_filt_xy_vio 10.000000 vfc_w_filt_xy_flow 3.000000 vfc_vel_ff_factor_vio 0.500000 vfc_xy_acc_limit_vio 3.000000 vfc_max_z_delta 3.000000 vfc_att_transition_time 0.500000 vfc_stick_move_threshold 30.000000 vfc_flow_transition_time 1.000000 vfc_q_min 15 vfc_points_min 0 vfc_en_submode_announcement 1 vfc_en_backtrack_heading_hold 0 vfc_disable_fallback 0 ================================================================= loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVROS / MAVSDK en_localhost_mavlink_udp 0 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio secondary_vio_pipe: ov en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 3.000000 send_odom_while_failed: 1 MISC FEATURES horizon_cal_tolerance: 0.500000 en_hitl: 0 OFFBOARD MODE offboard_mode: trajectory follow_tag_id: 0 figure_eight_move_home: 1 tracking_trigger_ch: 12 tracking_trigger_ch_thresh_temp: 1200 tracking_trigger_ch_thresh_new: 1800 wps_move_home: 1 wps_timeout: 0.000000 wps_damp: 1.000000 wps_vfc_mission: true wps_vfc_mission_loop: false wps_vfc_mission_to_ramp: 25.000000 wps_vfc_mission_cruise_speed: 1.000000 wps_vfc_mission_to_kp: 0.100000 robot_radius: 0.300000 collision_sampling_dt: 0.100000 max_lookahead_distance: 1.000000 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 COLLISION PREVENTION (VOA) en_voa: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_max_pc_per_fusion: 100 voa_pie_min_dist_m: 0.250000 voa_pie_max_dist_m: 20.000000 voa_pie_under_trim_m: 1.000000 voa_pie_threshold: 3 voa_pie_slices: 36 voa_pie_bin_depth_m: 0.150000 voa_send_rate_hz: 20.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof max_depth: 6.000000 min_depth: 0.150000 cell_size: 0.080000 threshold: 3 x_fov_deg: 106.500000 y_fov_deg: 85.099998 conf_cutoff: 125 voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 ================================================================= loading extrinsics config file loading horizon cal file existing instance of voxl-vision-hub found, attempting to stop it starting geometry module starting autopilot monitor starting mavlink IO Waiting to connect to voxl-mavlink-server Connected to voxl-mavlink-server starting fixed pose input starting vio manager Connected to voxl-mavlink-server Connected to VIO pipe: ov Geometry module updating to use imu: imu_apps_body for VIO ERROR in vcc_fetch_extrinsic, failed to find desired extrinsic relation in file Likely you need to run voxl-configure-extrinsics to make a new file ERROR: /etc/modalai/extrinsics.conf missing body to imu_apps_body, sticking with identity for now Detected Autopilot Mavlink SYSID 1 requesting autopilot_version Detected autopilot version: 1.14.0 starting tag manager starting voa manager ERROR in pipe_client_open, channel 11 already running Connected to VOA input pipe: tof starting horizon cal module starting imu manager starting state manager starting offboard trajectory Connected to voxl-mapper voxl-mapper pipe size is: 65536 bytes Init complete Trajectory Monitor connected to voa pointcloud commanding: XYZ -1.0 -0.1 -2.3 yaw: 0.1 WARNING in VOA manager, no attitude data from px4 ## Reply by Cliff Wong (ModalAI staff) · 2026-02-16 17:53:25 UTC (in reply to greg_s) @greg_s said in [Starling 2 not following navigation path](/post/25239): One thing that looks suspect is the voxl-mapper pipe size 64k bytes is much smaller than expect (usually in MB, e.g. 32MB-64MB). Is this a preloaded 3D map? Otherwise your VIO data looks good. It appears the drone does go to the 1st setpoint (1st leg of the trajectory) where that setpoint also looks as if it is landing. It's possible the landing detector was triggered and why everything stops. I suggest the following: * power up, ssh into 2 terminals * terminal 1 -- run the ```voxl-mapper``` terminal 2 -- run ```voxl-vision-hub --debug_offboard``` * take off in position mode, bring up the portal into mapper 3D view as normal, perform a 360 yaw to get a good map * Select ```"Plan a Point"```: draw your point and position it correctly * switch to ```offboard``` mode (which you have set correctly to 'trajectory') * Select ```GO!``` * Select ```"Follow Path"``` (If no follow path is offered then the A* path creation failed) Hopefully with that sequence, you'll see the drone move along the path. If it does not, then the voxl-mapper output in terminal 1 will tell us if a latency is the culprit. As an example, here's [how I expect the above to play out.](https://drive.google.com/file/d/1bXRgecZ9IG_FgLPxCd1_uh-VLLyiBDZu/view?usp=sharing). If you cannot repeat this then it maybe worth upgrading to SDK 1.6.3 (as the example was generated in). ## Reply by greg_s · 2026-02-18 21:59:02 UTC (in reply to Cliff Wong) Hello @Cliff-Wong, I tried reproducing your suggestion. The first time I tried, it seems to work fine. After landing and trying again (I stopped and restarted the voxl-mapper and voxl-vision-hub), I few around to update the map again as it reloaded. I planned a route that was straight ahead for the drone. Instead of following the path shown in the 3D mapper, it flew diagonally upward and hit the ceiling. I captured a video similar to yours to show the result. Also note, I ran the update to get the latest patch version of the voxl sdk. After running the update twice, it updated some packages but the patch number remained 2. So this was run with 1.6.2 sdk version, unless something else messed up with the update. I did capture a log of the update I ran if that would be helpful. [Link to video](https://drive.google.com/file/d/1utxSwyDzJNTKtbSly2nYWj4mkCkltj7q/view?usp=sharing) ## Reply by greg_s · 2026-02-23 19:11:36 UTC (in reply to Cliff Wong) Hello @Cliff-Wong, If there is any additional information or method I should try, just let me know. ## Reply by Cliff Wong (ModalAI staff) · 2026-02-25 17:01:36 UTC (in reply to greg_s) @greg_s HI there, The video exhibits classic VIO lost behavior from extrinsics: hovers fine, then on translation just flys away. Can you switch from ```trajectory``` mode back to ```figure_eight``` mode and confirm the drone can fly in figure 8s for more than 30secs? Figure 8 also tests the trajectory engine that mapper uses so it will confirm a number of things on the sensor side. ## Reply by greg_s · 2026-03-02 19:53:05 UTC (in reply to Cliff Wong) Hello @Cliff-Wong, The figure 8 no longer works. It is now crashing into the netting in the room after starting the figure 8 mode. Though, it did in the past. Here is the screen recording as it was happening [Link](https://drive.google.com/file/d/1sCHm-qGgv4XxAFOJ94ela7DGqetlABOT/view?usp=sharing) I also notice that it seems a sensor on the bottom has come loose due to the crashes sustained while trying to test the navigation. As well as the battery retention clips has broken off. [Link](https://drive.google.com/file/d/17Op4d9vl3jV_ysLbVTdZw63mAjGgBgX9/view?usp=sharing) ## Reply by Cliff Wong (ModalAI staff) · 2026-03-05 02:23:26 UTC (in reply to greg_s) @greg_s That would explain a lot what's happening. If you start fresh and connect to the drone with voxl-portal and goto the VIO tab/menu option, you should be able to pick up the drone and [perform a bench test](https://drive.google.com/file/d/1x81Kq3Y9VniPKNF5DQ--caLs80V72ujQ/view). Considering Figure 8 is not working, you will need to inspect the front and downward camera, tighten/remount any loose parts and possibly check camera focus & calibration. Worse case if the forward camera is good and not changed from factory, you can edit ```/etc/modalai/vio_cam.conf``` on the drone and disabled the faulty camera (disabled the down camera). You'll have degraded precision (mainly bad vio in fast yaw motions), but should be able to perform a figure 8 and should get you running until you repair that bottom sensor.