# OpenVINS issue

Source: https://forum.modalai.com/topic/5040/openvins-issue
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2026-02-08 08:06:27 UTC by Nitin Varma Vegesna
Replies: 7 · Views: 4216

## Nitin Varma Vegesna · 2026-02-08 08:06:27 UTC

Hello, I enabled openvins using the documentation here https://docs.modalai.com/voxl-open-vins-server, except the sku.txt change.

for some reason, I see in the hand testing, the z drift often, and also I continuously see [ INFO] [1770537820.961194398]: FCU: Vision Data Too Old. 

How do I fix these issues? 

Thanks.

## Reply by Nitin Varma Vegesna · 2026-02-08 22:33:04 UTC

Things I changed: "track_frequency":	30,
	"publish_frequency":	20,

using 2 cameras (not tracking_rear) in voxl_cams.conf

Is resolution (1280x800) an issue? 

One thing I see is that sometimes, this [ INFO] [1770537820.961194398]: FCU: Vision Data Too Old error comes repeatedly and then z drifts, maybe due to the processing power of the cpu or something else? Please let me know if you know anything regarding this.

## Reply by zauberflote1 (ModalAI staff) · 2026-02-09 20:25:12 UTC (in reply to Nitin Varma Vegesna)

@Nitin-Varma-Vegesna 

Hello, please provide your platform specs and sdk version.

## Reply by Nitin Varma Vegesna · 2026-02-10 00:26:22 UTC (in reply to zauberflote1)

@zauberflote1 said in [OpenVINS issue](/post/25177):
> Hello, please provide your platform specs and sdk version.
> 
> 

![Screenshot 2026-02-09 at 4.25.14 PM.png](https://forum.modalai.com/assets/uploads/files/1770683181298-screenshot-2026-02-09-at-4.25.14-pm.png)

## Reply by Nitin Varma Vegesna · 2026-02-10 02:30:35 UTC (in reply to Nitin Varma Vegesna)

@zauberflote1 this was during hand testing, and I am using 3 cameras now actually.

Also, when following documentation, I followed this instruction: edit /data/modalai/sku.txt and add a -E1 suffix to the string. save the file, e.g. MRB-D0005-4-V3-C12-E1

But, I couldn't see /mavros/local_position/odom for some reason after, so I reverted. I don't know if it was an issue with power cycle (pretty sure I did), but that's another difference.

## Reply by Nitin Varma Vegesna · 2026-02-10 17:37:30 UTC (in reply to Nitin Varma Vegesna)

@zauberflote1 In addition, I can't get above 20 FPS for ov_overlay (19 FPS with 2 cameras), which seems pretty bad when QVIO is 30 FPS. Is there a limit on the publish_frequency I could use, although it's not even reaching the publish_frequency.

## Reply by zauberflote1 (ModalAI staff) · 2026-02-10 19:47:07 UTC (in reply to Nitin Varma Vegesna)

@Nitin-Varma-Vegesna Please update your SDK to the latest... Minimum SDK required does not mean best performance. 

Also, please follow this post for posting guidelines: https://forum.modalai.com/topic/2670/please-read-support-request-format-for-best-results

Finally, please provide a screenshot of your voxl-inspect-cpu output...

## Reply by Nitin Varma Vegesna · 2026-02-12 09:56:21 UTC (in reply to zauberflote1)

@zauberflote1 I am no longer having this issue. I have been flying with OpenVins for some time, and I was sometimes seeing drift in the vio estimate, and I was wondering what are the best configs to use. for vio_cams.conf and voxl-open-vins-server.conf?