# Question about voxl-dfs-server.conf and voxl-tflite-server.conf

Source: https://forum.modalai.com/topic/942/question-about-voxl-dfs-server-conf-and-voxl-tflite-server-conf
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: m500
Posted: 2022-05-16 14:47:38 UTC by yu zhang
Replies: 3 · Views: 857

## yu zhang · 2022-05-16 14:47:38 UTC

Hi team,
I saw there was a ```skip_n_frames``` parameter available in both ```voxl-dfs-server.conf``` and ```voxl-tflite-server.conf```. I am wondering if the usage of this one is to reduce resource cost or  runtime latency for processing OpenCV libs or TensorFlow lite models? If ```skip_n_frames``` is 0, all frames will be used to feed to the libs, right?

Also, I am wondering what's the meaning of ```dt(ms)``` in the ```voxl-inspect-gps```? Does it mean the internal GPS refresh rate? 

Since m500 has 3 IMU sensors, it seems only ```imu0``` with a default 1K rate is used in the ```voxl-qvio-server.conf```. What if I change the it to ```imu1```, will the performance of VIO be impacted? 

Thanks.

## Reply by yu zhang · 2022-05-19 06:22:38 UTC

Hey @Alex-Gardner, can you please advise about this question? Thanks.

## Reply by Guest · 2022-05-19 23:31:16 UTC

Yes, the skip_n_frames is used for the  CPU-intensive algorithms that can't run at full 30hz. Setting it to 0 will try to process all of the frames.

dt(ms) is the time delta in milliseconds between gps samples.

We've tested the imus a lot and the most reliable one is imu0, you'll probably see vio's performance drop if you use imu1.

## Reply by yu zhang · 2022-05-20 01:37:21 UTC (in reply to Guest)

@Alex-Gardner All right, thanks so much for that ;)