# LiVOX MID360 FASTLIO SLAM

**URL:** <https://discuss.px4.io/t/livox-mid360-fastlio-slam/48803>\
**Category:** PX4 Autopilot\
**Created:** [April 10, 2026, 9:40am UTC](https://discuss.px4.io/t/livox-mid360-fastlio-slam/48803 "2026-04-10T09:40:06Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![shaik\_jani\_basha](https://discuss.px4.io/user_avatar/discuss.px4.io/shaik_jani_basha/32/21421_2.png) [@shaik\_jani\_basha](https://discuss.px4.io/u/shaik_jani_basha)\
**Post date:** [April 10, 2026, 9:40am UTC](https://discuss.px4.io/t/livox-mid360-fastlio-slam/48803/1 "2026-04-10T09:40:07Z")

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I’m Shaik Jani Basha

I’m working on indoor drone navigation using a Livox Mid-360 LiDAR with FAST-LIO SLAM. The 3D mapping and SLAM pipeline are running reliably without errors, and we are publishing stable X, Y, Z position along with odometry (\>10 Hz).

However, the drone is still experiencing noticeable drift during hover. I suspect it could be related to state estimation fusion, controller tuning, or frame alignment.

Could you share any insights or suggestions on how to reduce drift in this setup?

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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:** [July 9, 2026, 9:40am UTC](https://discuss.px4.io/t/livox-mid360-fastlio-slam/48803/2 "2026-07-09T09:40:20Z")

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