# Hight Position Drift Issue using LIO(lidar inertial odometry)/VIO

**URL:** <https://discuss.px4.io/t/hight-position-drift-issue-using-lio-lidar-inertial-odometry-vio/44071>\
**Category:** PX4 Autopilot\
**Created:** [February 28, 2025, 1:03pm UTC](https://discuss.px4.io/t/hight-position-drift-issue-using-lio-lidar-inertial-odometry-vio/44071 "2025-02-28T13:03:57Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![crazy-robotics](https://discuss.px4.io/user_avatar/discuss.px4.io/crazy-robotics/32/21620_2.png) [@crazy-robotics](https://discuss.px4.io/u/crazy-robotics)\
**Post date:** [February 28, 2025, 1:03pm UTC](https://discuss.px4.io/t/hight-position-drift-issue-using-lio-lidar-inertial-odometry-vio/44071/1 "2025-02-28T13:03:57Z")

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I am working on indoor UAV `SLAM` using a `Pixhawk 6C` running `PX4 v1.15.2` paired with a `Jetson Orin Nano` as the companion computer. For localization, I am using a `Livox Mid-360 LiDAR` and running [FAST-LIVO2](https://github.com/hku-mars/FAST-LIVO2) for `local position estimation`.

After launching `FAST-LIVO2`, it publishes the estimated pose on `/mavros/vision_pose/pose`. I have configured the PX4 parameters according to the [Using Vision or Motion Capture Systems for Position Estimation](https://docs.px4.io/main/en/ros/external_position_estimation.html) guide. Initially, in `QGroundControl (QGC)`, I observe a `no valid local position `warning, but this disappears once FAST-LIVO2 starts running, indicating that the system is receiving position estimates.

However, when switching to `Position mode`, the drone successfully takes off, but it experiences **significant drift** without any manual input. The drift is highly unstable, making it difficult to control the UAV.

I have attached multiple test flight logs for reference:  
📌 [Test-flight1](https://review.px4.io/plot_app?log=7ee4986e-2aeb-4dba-91ea-a73b81072f68)  
📌 [Test-flight2](https://review.px4.io/plot_app?log=eef83bf5-451b-403c-b363-1aae75294bc9)  
📌 [Test-flight3](https://review.px4.io/plot_app?log=fcc6de1d-b40f-4d82-a622-22e6f934aa56)  
📌 [Test-flight4](https://review.px4.io/plot_app?log=5c6705a3-bc5f-4a07-8c2c-4f9306e182ab)

I would appreciate any suggestions on how to resolve the `position drift issue`

Any help or guidance would be greatly appreciated. Thanks in advance!

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**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\
**Post date:** [May 29, 2025, 1:04pm UTC](https://discuss.px4.io/t/hight-position-drift-issue-using-lio-lidar-inertial-odometry-vio/44071/2 "2025-05-29T13:04:45Z")

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