# WARNING PX4 DISCONNECTED error message from voxl-vision-px4

Source: https://forum.modalai.com/topic/70/warning-px4-disconnected-error-message-from-voxl-vision-px4
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2020-12-29 17:18:26 UTC by modaltb (ModalAI staff)
Replies: 0 · Views: 983

## modaltb (ModalAI staff) · 2020-12-29 17:18:26 UTC

If you get the following error message from `voxl-vision-px4`:

![bea68e25-4fda-4c0d-ae65-75cf6d8b4ff3-image.png](https://forum.modalai.com/assets/uploads/files/1609262065060-bea68e25-4fda-4c0d-ae65-75cf6d8b4ff3-image.png) 

This is likely caused by an over aggressive watchdog timer in `voxl-vision-px4` expecting MAVLink packets in a certain time frame and the default MAVLink settings in PX4 v1.10 for the VOXL Flight not being enforced.

To resolve this (and note, in PX4 v1.11 it is the default), you need to ensure the `MAV_1_MODE` is set to `Onboard`:

![a165cc72-eaf8-4793-9d78-8cdab6f5e8c2-image.png](https://forum.modalai.com/assets/uploads/files/1609262225248-a165cc72-eaf8-4793-9d78-8cdab6f5e8c2-image.png) 

This is also configured in our PX4 params helpers here:

https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/mavlink_serial_ports.params#L20