# OpenVINS Source: https://forum.modalai.com/topic/5390/openvins Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation) Tags: vio Posted: 2026-08-20 16:29:20 UTC by ApoorvThapliyal Replies: 1 · Views: 134 ## ApoorvThapliyal · 2026-08-20 16:29:20 UTC ### Hardware StarlingV2 Max, one hires front, one tracking front, one hires down, one tracking down ### Software version ```bash voxl2:~$ voxl-version ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.06-M0054-14.1a-perf kernel: #1 SMP PREEMPT Wed Oct 22 04:29:38 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.2.1 SKU: MRB-D0012-4-V2-C28-T9-M28-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.6.3 ──────────────────────────────────────────────────────────────────────────────── Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/ Last Updated: 2026-08-14 17:36:04 WARNING: repo file has changed since last update, packages may have originated from a different repo List: libfc-sensor 1.0.12 libmodal-cv 0.6.0 libmodal-exposure 0.1.4 libmodal-flow 1.0.3 libmodal-journal 0.2.7 libmodal-json 0.4.8 libmodal-pipe 2.14.11 libqrb5165-io 0.6.3 libvoxl-cci-direct 0.3.3 libvoxl-codec 0.1.4-202608061838 libvoxl-cutils 0.1.6 modalai-slpi 1.2.3 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-mini-tof-server 0.2.2 qrb5165-rangefinder-server 0.1.6 qrb5165-slpi-test-sig 01-r0 qrb5165-tflite 2.17.2 voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.6.1 voxl-camera-server 2.2.33-202608112121 voxl-ceres-solver 2:2.0.0-2 voxl-configurator 1.1.5 voxl-cpu-monitor 0.7.7 voxl-docker-support 1.3.1 voxl-elrs 1.1.0 voxl-esc 1.5.7 voxl-esptool 0.2.0 voxl-feature-tracker 0.5.2 voxl-flow-server 0.3.6 voxl-gphoto2-server 0.0.10 voxl-imu-server 2.0.1 voxl-io-server 0.0.8 voxl-jpeg-turbo 2.1.3-7 voxl-lepton-server 1.3.3 voxl-lepton-tracker 0.0.4 voxl-libgeographic 1.0.0 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.6.1 voxl-mavcam-manager 0.6.0 voxl-mavlink 0.1.6 voxl-mavlink-server 1.4.14 voxl-modem 1.2.3 voxl-mongoose 7.19.0 voxl-mpa-to-ros 0.3.9 voxl-mpa-tools 1.5.6 voxl-nano-tracker 0.1.7 voxl-open-vins-server 0.6.0 voxl-opencv 4.5.5-3 voxl-osd 0.3.8 voxl-portal 0.8.7 voxl-px4 1.14.0-2.0.133 voxl-px4-params 0.9.0 voxl-qvio-server 1.2.3 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.4 voxl-state-estimator 0.0.6 voxl-streamer 0.8.0 voxl-suite 1.6.3 voxl-tag-detector 0.1.0 voxl-tflite-server 0.5.1 voxl-utils 2.0.2 voxl-uvc-server 0.1.7 voxl-vision-hub 1.9.21 voxl-vtx 2.0.2 voxl-wavemux 0.0.3 voxl2-io 0.0.3 voxl2-security-hardening-utls 1.0-r0 voxl2-system-image 1.8.06-r0 voxl2-wlan 1.0-r0 ──────────────────────────────────────────────────────────────────────────────── ``` ### Services ```bash Service Name | Enabled | Running | CPU Usage ─────────────────────────────────────────────────────────────────── docker-autorun | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 67.3% voxl-cpu-monitor | Enabled | Running | 1.9% voxl-dfs-server | Disabled | Not Running | voxl-dma-latency | Enabled | Running | voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 1.9% voxl-io-server | Disabled | Not Running | voxl-lepton-server | Disabled | Not Running | voxl-lepton-tracker | Disabled | Not Running | voxl-logger | Disabled | Not Running | voxl-mavcam-manager | Disabled | Not Running | voxl-mavlink-server | Enabled | Running | 1.9% voxl-mini-tof-server | Disabled | Not Running | voxl-modem-doodle | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-nano-tracker | Disabled | Not Running | voxl-open-vins-server | Enabled | Running | 19.2% voxl-osd | Disabled | Not Running | voxl-portal | Enabled | Running | 69.2% voxl-px4 | Enabled | Running | 38.5% voxl-qvio-server | Disabled | Not Running | voxl-rangefinder-server | Enabled | Running | 1.9% voxl-remote-id | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-state-estimator | Disabled | Not Running | voxl-static-ip-watcher | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 0.0% voxl-vrx | Disabled | Not Running | voxl-vtx | Disabled | Not Running | voxl-wait-for-fs | Enabled | Completed | ``` ### Issue Im trying to use `voxl-open-vins server`, and I'm seeing massive drift on account of feature loss in the VIO section view in `voxl-portal` I notice that my `voxl-camera-server` shows the following logs when I run it from the terminal: ```bash WARNING: Pushed buffers back to pools for frame: 20093 ERROR: Received "Result" error from camera: tracking_down, frame number 20094 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20094 WARNING: Pushed buffers back to pools for frame: 20094 ERROR: Received "Result" error from camera: tracking_down, frame number 20095 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20095 WARNING: Pushed buffers back to pools for frame: 20095 ERROR: Received "Result" error from camera: tracking_down, frame number 20096 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20096 WARNING: Pushed buffers back to pools for frame: 20096 ERROR: Received "Request" error from camera: tracking_down, frame number 20097 WARNING: Pushed buffers back to pools for frame: 20097 ERROR: Received "Request" error from camera: tracking_down, frame number 20098 WARNING: Pushed buffers back to pools for frame: 20098 ERROR: Received "Request" error from camera: tracking_down, frame number 20099 WARNING: Pushed buffers back to pools for frame: 20099 WARNING: Camera: tracking_down : dropping frame after re-init WARNING: Camera: tracking_down : dropping frame after re-init ERROR: Received "Buffer" error from camera: tracking_down, frame number 20112 WARNING: Pushed buffers back to pools for frame: 20112 ERROR: Received "Result" error from camera: tracking_down, frame number 20112 ERROR: Received "Result" error from camera: tracking_down, frame number 20113 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20113 WARNING: Pushed buffers back to pools for frame: 20113 ERROR: Received "Result" error from camera: tracking_down, frame number 20114 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20114 WARNING: Pushed buffers back to pools for frame: 20114 ERROR: Received "Result" error from camera: tracking_down, frame number 20115 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20115 WARNING: Pushed buffers back to pools for frame: 20115 ERROR: Received "Result" error from camera: tracking_down, frame number 20116 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20116 WARNING: Pushed buffers back to pools for frame: 20116 ERROR: Received "Result" error from camera: tracking_down, frame number 20117 ERROR: Received "Buffer" error from camera: tracking_down, frame number 20117 WARNING: Pushed buffers back to pools for frame: 20117 ERROR: Received "Request" error from camera: tracking_down, frame number 20118 WARNING: Pushed buffers back to pools for frame: 20118 ERROR: Received "Request" error from camera: tracking_down, frame number 20119 WARNING: Pushed buffers back to pools for frame: 20119 WARNING: Camera: tracking_down : dropping frame after re-init WARNING: Camera: tracking_down : dropping frame after re-init WARNING: no match found in fsync timestamp buffer ``` ### Pictures The kind of drift I am seeing: ![Screenshot_2026-08-20_11-24-33.png](https://forum.modalai.com/assets/uploads/files/1787243303778-screenshot_2026-08-20_11-24-33-resized.png) ## Reply by zauberflote1 (ModalAI staff) · 2026-08-20 16:53:15 UTC Please update your VINS to our master branch here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-open-vins-server For epoch-synced cams, tracking AR0144, please use: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-open-vins-server/-/tree/synced-timestamp?ref_type=heads