Thank you very much! it seems to work a lot better. I've increased ae_desired_msv from 60 to 80.

Currently, I'm using the voxl-cam for vio only. It's mounted on my self-made drone without px-4 (I only want to receive the qvio data).
During flight, the vio resets due to a low number of features (and then it takes time to initialize again). I'm adding some images of the qvio overlay, with cases where the image seems fine and the drone is stable (by the way it can happen on the ground as well), but not enough features were found

Is there a way to increase the number of valid "good" features? Or maybe another way to increase the stability of the algorithm?