# Roll failure detected once I have the visio for local position

Source: https://forum.modalai.com/topic/716/roll-failure-detected-once-i-have-the-visio-for-local-position
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl-cam
Posted: 2022-02-07 16:21:45 UTC by marian
Replies: 4 · Views: 1138

## marian · 2022-02-07 16:21:45 UTC

Hello,

I calibrated the accelerometer using ROTATION_NONE as per https://docs.modalai.com/px4-calibrate-sensors/

And I use the ekf2 params setup as per https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/rb5/ekf2_indoor_vio.params 

I have a roll failure detected once I have the local position via the voxl cam system. And the flight controller shows a 90 degrees roll rotation. 

Any help will be great!

## Reply by Chad Sweet (ModalAI staff) · 2022-02-08 04:47:53 UTC

The relevant PX4 parameters for VOXL CAM are found in the 'Seeker' directory here: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/tree/master/helpers/seeker

## Reply by marian · 2022-02-08 08:22:49 UTC

Thanks! I will take a look and verify all the params from the location above.

## Reply by marian · 2022-02-23 11:33:45 UTC

@Chad-Sweet Hi Chad, I took a look at the parameters you send me, but there is nothing about the Rotation of the board. These params are installed on my board, but the results are the same:
- whenever I use it for indoor I have a roll failure detected once I have the visio for local position
- whenever I use it for outdoor, so I added a M8N u-bloz GPS with compass, I can't calibrate de comapss because the position indicated on the QGC is different as the position of the drone if ROTATION-NONE is selected. And by the modal ai doc, it the Ratoation-None that it should be used. 

Is that correct? or do I need to select another ROATION of the board for calibration?

## Reply by marian · 2022-02-28 16:13:29 UTC

No answer from Chad, so I put the problem again here hoping someone can advice me how to advance with this topic.

I took a look at the parameters send over, but there is nothing about the rotation of the board. These params are installed on my board, but the results are the same:

- whenever I use it for indoor, I do the accel & gyro calibration with ROTATION-NONE, but I have a roll failure detected once I try to arm and I got the visio for local position
- whenever I use it for outdoor, I add a M8N GPS with compass, I can't calibrate de compass because the position indicated on the QGC is different as the position of the drone if ROTATION-NONE is selected. 

By the modalai doc. is ROTATION-NONE that it should be used. Did I get it correctly, or do I need to select another ROTATION value of the board for calibration?

Thanks!