# p.poseQuality == MV_TRACKING_STATE_FAILE

Source: https://forum.modalai.com/topic/628/p-posequality-mv_tracking_state_faile
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl-flight
Posted: 2021-12-30 17:30:41 UTC by relevinsky
Replies: 1 · Views: 372

## relevinsky · 2021-12-30 17:30:41 UTC

Hi,
what could be a reason for p.poseQuality = MV_TRACKING_STATE_FAILED ? (maybe corrupted imu of frame message?
Thanks,

## Reply by Chad Sweet (ModalAI staff) · 2021-12-30 19:31:34 UTC

Is this a custom setup? If so, my first guess would be that the extrinsic pareters between camera and IMU have not been set

Check out the debugging section in this document https://docs.modalai.com/flying-with-vio/#troubleshooting-vio