diff --git a/ros_packages/mrs_uav_core/config/rviz/default.rviz b/ros_packages/mrs_uav_core/config/rviz/default.rviz
index 92c536f..3784bf5 100644
--- a/ros_packages/mrs_uav_core/config/rviz/default.rviz
+++ b/ros_packages/mrs_uav_core/config/rviz/default.rviz
@@ -1,13 +1,13 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 70
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.6970587968826294
-    Tree Height: 291
+    Tree Height: 361
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +27,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: ouster
+    SyncSource: ouster_raw
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -114,37 +114,41 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
-    - Background color: 204; 204; 204
-      Class: mrs_rviz_plugins/Status
-      Computer load: true
-      Control manager: true
-      Custom strings: true
+    - Class: rviz/Group
+      Displays:
+        - Background color: 204; 204; 204
+          Class: mrs_rviz_plugins/Status
+          Computer load: true
+          Control manager: true
+          Custom strings: true
+          Enabled: true
+          Hw api state: true
+          Name: Status
+          Node stats list: false
+          Odometry: true
+          Text color: 0; 0; 0
+          Top Line: true
+          Topic rates: true
+          UAV name: uav1
+          Value: true
+        - Class: ""
+          Enable Transparency: true
+          Enabled: true
+          Name: Control Display
+          Show Axes: false
+          Show Descriptions: true
+          Show Visual Aids: false
+          Update Topic: control/update
+          Value: true
       Enabled: true
-      Hw api state: true
       Name: Status
-      Node stats list: false
-      Odometry: true
-      Text color: 0; 0; 0
-      Top Line: true
-      Topic rates: true
-      UAV name: uav1
-      Value: true
-    - Class: ""
-      Enable Transparency: true
-      Enabled: true
-      Name: Control Display
-      Show Axes: false
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: control/update
-      Value: true
     - Class: rviz/Group
       Displays:
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
-            Max Value: 6.35638427734375
-            Min Value: -0.7699873447418213
+            Max Value: 6.5032958984375
+            Min Value: -0.6449446678161621
             Value: true
           Axis: Z
           Channel Name: intensity
@@ -156,7 +160,7 @@ Visualization Manager:
           Invert Rainbow: false
           Max Color: 255; 255; 255
           Min Color: 0; 0; 0
-          Name: ouster
+          Name: ouster_raw
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
@@ -196,6 +200,18 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
+        - Class: rviz/Image
+          Enabled: false
+          Image Topic: /uav1/vio/camera/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: vio_camera
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: false
       Enabled: true
       Name: Sensors
     - Class: rviz/Group
@@ -491,9 +507,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.40539851784706116
+      Pitch: 0.4203985035419464
       Target Frame: uav1/fcu
-      Yaw: 3.270394802093506
+      Yaw: 3.2353947162628174
     Saved: ~
 Window Geometry:
   Displays:
@@ -501,7 +517,7 @@ Window Geometry:
   Height: 506
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000001a4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000003c9000003450000025b000000c90000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d006501000000000000045000000000000000000000024c000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000001a4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001400000009f00000000000000000000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d006501000000000000045000000000000000000000024c000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -511,5 +527,7 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 936
-  X: 2886
+  X: 966
   Y: 32
+  vio_camera:
+    collapsed: false