# Unstable takeoff and hovering with VIO

**URL:** <https://discuss.px4.io/t/unstable-takeoff-and-hovering-with-vio/34127>\
**Category:** Uncategorized\
**Created:** [September 4, 2023, 5:29am UTC](https://discuss.px4.io/t/unstable-takeoff-and-hovering-with-vio/34127 "2023-09-04T05:29:45Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![zhefanxu](https://discuss.px4.io/user_avatar/discuss.px4.io/zhefanxu/32/9851_2.png) [@zhefanxu](https://discuss.px4.io/u/zhefanxu)\
**Post date:** [September 4, 2023, 5:29am UTC](https://discuss.px4.io/t/unstable-takeoff-and-hovering-with-vio/34127/1 "2023-09-04T05:29:45Z")

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Hi there,

I am running VIO algorithm and perform takeoff and hovering, but the behabior is very unstable. The drone is drifting everywhere. Here is the flight log. I tried a lot of PID tuning and I am sure my VIO is accurate. My question is how to tune my PID to improve the results or is there any other problem with my setting?

[https://review.px4.io/plot\_app?log=5478240c-22b2-436d-8f79-1d828f8e3724](https://review.px4.io/plot_app?log=5478240c-22b2-436d-8f79-1d828f8e3724)

thanks in advance